def __init__(self, id, color, speed, pos):
self.id = id
self.speed = speed
self.color = color
self.position = pos
self.isLife = True
self.acceleration = [0, 0]
self.rotation = 0.0
self.publisher = rospy.Publisher(self.id, Marker, queue_size=10)
self.ros()
self.nunchucks = []
i = 0
while i < NUNCHUCKS_COUNT + 1:
me = self.id + "_hand" + str(i)
position = (NUNCHUCK_LENGTH[0], 0, 0)
parent = self.id + "_hand" + str(i - 1)
if i == 0:
parent = self.id
position = (0.4, 0, 0)
nunchuck = Nunchuck(me, Marker.CYLINDER, parent, position,
NUNCHUCK_LENGTH, [1, 1, 1], 220)
self.nunchucks.append(nunchuck)
i += 1
position = (1, 0, 0)
parent = self.id + "_hand" + str(i - 1)
nunchuck = Nunchuck(self.id + "_damage", Marker.ARROW, parent,
position, [0.9, 0.5, 0.1], [0.3, 1, 0.7], 0)
self.nunchucks.append(nunchuck)
self.damage = nunchuck
def __init__(self):
self.Nunchuck = Nunchuck.Nunchuck()
self.Nunchuck.setdelay(0.005)
#!/usr/bin/python
#
# Tests the connectivity of the Wii nunchuck over I2C
#
import smbus
import time
from Nunchuck import Nunchuck
nun = Nunchuck()
while True:
nun.update()
print 'Jx: %s Jy: %s Ax: %s Ay: %s Az: %s Bc: %s Bz: %s' % (nun.joy_x, nun.joy_y, nun.accel_x, nun.accel_y, nun.accel_z, nun.button_c, nun.button_z)
pos = 1
for field in line:
servoTable[int(servoNum)][int(pos)] = int(field)
pos += 1
# get mid positions and move arms to those locations
midPositions = []
print '[#, min, max] mid'
for i in range(0,6):
midPositions.append((servoTable[i][2]-servoTable[i][1])/2+servoTable[i][1])
print servoTable[i], midPositions[i]
#pwm.setPWM(i,0,midPositions[i])
currentPositions = [445,385,465,220,395,270]
updatePos(currentPositions)
nunchuck = Nunchuck()
mode = 1
while (1):
nunchuck.update()
#change mode if button c pressed
if (nunchuck.button_c==True):
if (mode==1):
mode = 2
else:
mode =1
print mode
time.sleep(1)
#mode 1
if (mode==1 and nunchuck.button_z==False):
if (nunchuck.joy_x < 60):
currentPositions[0] -= 20