def on_enter(self):
self.send_packet(packets.ServoControl(*ARM_OPEN))
move = MoveLineTo(RED_START_X, MAMMOTH_HUNT_Y)
yield move
self.send_packet(packets.ServoControl(*ARM_CLOSE))
if move.exit_reason == TRAJECTORY_DESTINATION_REACHED:
yield HuntTheMammoth()
self.robot.goal_manager.update_goal_status("HuntTheMammoth", GOAL_DONE)
yield None
def on_enter(self):
for cmd in self.commands:
actuator_typed_id = cmd[self.TYPED_ID]
actuator_type = actuator_typed_id[self.TYPE]
actuator_id = actuator_typed_id[self.ID]
if actuator_type in [
ACTUATOR_TYPE_SERVO_AX, ACTUATOR_TYPE_SERVO_RX
]:
servo_value = cmd[self.SERVO_VALUE]
timeout_value = cmd[self.SERVO_TIMEOUT]
logger.log("Trigger: set servo {} value: {} (tm: {})".format(
SERVOS_IDS.lookup_by_value[actuator_typed_id],
ALL_SERVO_COMMANDS[actuator_typed_id].get(
servo_value, servo_value), timeout_value))
self.send_packet(packets.ServoControl(*cmd))
elif actuator_type == ACTUATOR_TYPE_OUTPUT:
self.send_packet(
packets.OutputControl(id=actuator_id,
action=cmd[self.OUTPUT_ACTION]))
elif actuator_type == ACTUATOR_TYPE_PWM:
self.send_packet(
packets.PwmControl(id=actuator_id,
value=cmd[self.PWM_VALUE]))
else:
self.log_error(
"Unknown actuator type in command: {}".format(cmd))
yield from self.cleanup(actuator_id)
def on_start(self, packet):
self.event_loop.is_match_started = True
self.yield_at(90000, EndOfMatch())
logger.log("Starting ...")
#yield FirstHurryToTheOtherMammoth()
self.send_packet(packets.ServoControl(*ARM_OPEN))
yield MoveLineTo(RED_START_X, 1.25)
while True:
yield ExecuteGoals()
yield Timer(1000)
def on_enter(self):
for cmd in self.commands:
actuator_type = cmd[self.TYPE]
if actuator_type in [
ACTUATOR_TYPE_SERVO_AX, ACTUATOR_TYPE_SERVO_RX
]:
self.send_packet(packets.ServoControl(*cmd))
elif actuator_type == ACTUATOR_TYPE_RELAY:
self.send_packet(
packets.RelayToggle(
id=cmd[self.ID],
action=cmd[self.RELAY_ACTION],
toggle_count=cmd[self.RELAY_TOGGLE_COUNT]))
elif actuator_type == ACTUATOR_TYPE_PWM:
self.send_packet(
packets.PwmControl(id=cmd[self.ID],
value=cmd[self.PWM_VALUE]))
else:
self.log("Unknown actuator type in command: {}".format(cmd))
def on_waypoint_reached(self, packet):
cmd = self.commands.popleft()
if cmd is not None:
# Don't use Trigger as we won't wait for the confirmation
self.send_packet(packets.ServoControl(*cmd))
self.handle_tree()
def on_enter(self):
cmd = makeServoReadCommand((self.servo_id, 0))
self.send_packet(packets.ServoControl(*cmd))