def go(self): roboclaw.calibrateRoboclaws() print "Searching for Vektor Locations Service..." rospy.wait_for_service('locations') print "Searching for Vektor Locations Update Service..." rospy.wait_for_service('commandSent') print "Entering Gameplay" rospy.init_node('commandNode') rospy.Service('commcenter', commcenter, self.executeCommCenterCommand) s = sched.scheduler(time.time, time.sleep) s.enter(0,1,self.executionLoop,(s,)) s.run()
def go(self): roboclaw.calibrateRoboclaws() print "Searching for Vektor Locations Service..." rospy.wait_for_service('locations') print "Searching for Vektor Locations Update Service..." rospy.wait_for_service('commandSent') print "Entering Gameplay" rospy.init_node('commandNode') rospy.Service('commcenter', commcenter, self.executeCommCenterCommand) s = sched.scheduler(time.time, time.sleep) s.enter(0, 1, self.executionLoop, (s, )) s.run()
from kalman_filter import Robot from param import * from motor_control import velchange import Point import MotionSkills import time from motor_control import roboclaw print("Go to point") #this sets the pid constants roboclaw.calibrateRoboclaws() Motion_Skills = MotionSkills.MotionSkills() state = Robot.State() desiredPoint = Point.Point(1.75, 0.5) command = Motion_Skills.go_to_point(state, desiredPoint) velchange.goXYOmega(command.vel_x, command.vel_y, 0) print("Run Time: %s" % command.runTime) time.sleep(command.runTime) velchange.goXYOmega(0,0,0)