def set_Pgain_for_angular_velocity(self, val):
global new_PID_gains_angular_velocity
# print "slider now at", val
val = int(val)
new_PID_gains_angular_velocity = list(new_PID_gains_angular_velocity)
new_PID_gains_angular_velocity[0] = val
new_PID_gains = PID_gains()
self.publish_new_gains()
def set_Dgain_for_posture(self, val):
global new_PID_gains_posture
# print "slider now at", val
val = int(val)
new_PID_gains_posture = list(new_PID_gains_posture)
new_PID_gains_posture[2] = val
new_PID_gains = PID_gains()
self.publish_new_gains()
def publish_new_gains(self):
new_PID_gains = PID_gains()
for i in range(3):
new_PID_gains.pid_gains_for_posture.append(
new_PID_gains_posture[i])
new_PID_gains.pid_gains_for_linear_velocity.append(
new_PID_gains_linear_velocity[i])
new_PID_gains.pid_gains_for_angular_velocity.append(
new_PID_gains_angular_velocity[i])
pub_new_gains.publish(new_PID_gains)
del new_PID_gains
def publish_current_gains():
global PID_GAIN_POSTURE, PID_GAIN_LINEAR_VELOCITY, PID_GAIN_ANGULAR_VELOCITY
current_PID_gains = PID_gains()
for i in range(3):
current_PID_gains.pid_gains_for_posture.append(PID_GAIN_POSTURE[i])
current_PID_gains.pid_gains_for_linear_velocity.append(
PID_GAIN_LINEAR_VELOCITY[i])
current_PID_gains.pid_gains_for_angular_velocity.append(
PID_GAIN_ANGULAR_VELOCITY[i])
pub_current_gains.publish(current_PID_gains)
del current_PID_gains