datas.append(round(data.position[5] * 52.297, 2))
# move when postion change
if cmp(self.postion, datas) != 0:
self.postion = datas
print "change postion to:", self.postion
self.m.go_to_axis(self.postion[0], self.postion[1],
self.postion[2], self.postion[3],
self.postion[4], self.postion[5], 2000)
if __name__ == '__main__':
m = Mirobot(debug=True)
m.connect('/dev/ttyUSB0')
# set mirobot to init postion
m.home_simultaneous()
sleep(15)
try:
#mirobot control init
mirobot_control_node(m)
except rospy.ROSInterruptException:
pass
while True:
rospy.spin()
sleep(0.1)
m.disconnect()
#!/usr/bin/env python from mirobot import Mirobot import sys if len(sys.argv) > 1: host = sys.argv[1] else: host = 'local.mirobot.io' mirobot = Mirobot(host, debug=True) mirobot.forward(100) mirobot.back(100) mirobot.penup() mirobot.disconnect()
