class AVRControl:
def __init__(self):
self.ns_global_prefix = "/odroidx_interface"
if not rospy.has_param(self.ns_global_prefix + "/polling_interval"):
self.polling_interval = 1
else:
self.polling_interval = rospy.get_param(self.ns_global_prefix + "/polling_interval")
if not rospy.has_param(self.ns_global_prefix + "/analog_channels"):
self.analog_ch = []
else:
self.analog_ch = map(int, str(rospy.get_param(self.ns_global_prefix + "/analog_channels")).split(","))
self._connect()
self.old_values = [-1]*14
self.old_values[0] = 0 #prevent of motor stop
self.old_values[1] = 0
self.pub_marker = rospy.Publisher("state", ChannelFloat32)
rospy.Subscriber("command", ChannelFloat32, self.setCallback, queue_size=1)
s1 = rospy.Service('mot0', MotorAim, self.cb_mot0)
s2 = rospy.Service('pullup', MotorAim, self.cb_pullup)
def _connect(self):
while True:
try:
self.intf = AVRInterface()
self.intf.setup()
break
except Exception, e:
print "AVR Error:", e
rospy.sleep(1)
def _connect(self):
while True:
try:
self.intf = AVRInterface()
self.intf.setup()
break
except Exception, e:
print "AVR Error:", e
rospy.sleep(1)
def _connect(self): while True: try: self.intf = AVRInterface() self.intf.setup() break except Exception, e: print "AVR Error:", e rospy.sleep(1)
class AVRControl:
def __init__(self):
self.ns_global_prefix = "/odroidx_interface"
if not rospy.has_param(self.ns_global_prefix + "/polling_interval"):
self.polling_interval = 1
else:
self.polling_interval = rospy.get_param(self.ns_global_prefix +
"/polling_interval")
if not rospy.has_param(self.ns_global_prefix + "/analog_channels"):
self.analog_ch = []
else:
self.analog_ch = map(
int,
str(rospy.get_param(self.ns_global_prefix +
"/analog_channels")).split(","))
self._connect()
self.old_values = [-1] * 14
self.old_values[0] = 0 #prevent of motor stop
self.old_values[1] = 0
self.pub_marker = rospy.Publisher("state", ChannelFloat32)
rospy.Subscriber("command",
ChannelFloat32,
self.setCallback,
queue_size=1)
s1 = rospy.Service('mot0', MotorAim, self.cb_mot0)
s2 = rospy.Service('pullup', MotorAim, self.cb_pullup)
def _connect(self):
while True:
try:
self.intf = AVRInterface()
self.intf.setup()
break
except Exception, e:
print "AVR Error:", e
rospy.sleep(1)
#!/usr/bin/python
import roslib;
roslib.load_manifest('ipa_odroidx_interface')
import rospy
import sys
from avr_interface import AVRInterface
intf = AVRInterface()
intf.setup()
print "Inputs are ", intf.get_input()
for i in range(0,4):
print "Analog ch. ",i," is ", intf.get_analog(i)
intf.set_output(0,0)
intf.set_output(1,0)
intf.set_output(4,0)
intf.set_output(0, 55)
intf.set_pulse(0, 1)
intf.set_motoraim0(int(sys.argv[1]))
exit()
cnt=0
d=1
while False: #True:
#print "Inputs are ", intf.get_input()
intf.set_output(0,cnt)
cnt+=d
