def _drive_direct(self,data):
logger.debug("Drive Direct")
if not(len(data)==5):
logger.warning("Direct Drive command should have 5 bytes, recieved %d"%len(data))
else:
self.vel_right = pici.bytes2val(data[1],data[2])
self.vel_left = pici.bytes2val(data[3],data[4])
def _drive(self,data):
logger.debug("Drive")
if not(len(data)==5):
logger.warning("Drive command should have 5 bytes, received %d"%len(data))
else:
# Math for driving in a circle
vel = pici.bytes2val(data[1],data[2])
radius = pici.bytes2val(data[3],data[4])
if radius==32678 or radius==32767:
# Straight
self.vel_right = vel
self.vel_left = vel
elif radius==-1:
# turn in place clockwise
self.vel_right = vel
self.vel_left = -vel
elif radius==1 or abs(radius)<1:
# turn in place counter-clockwise
self.vel_right = -vel
self.vel_left = vel
else:
# radius = v/omega
omega = float(vel)/float(radius) # rad/s
L = self.L # distance between wheels in mm
#R = 65.0/2 # Radius of the wheels
self.vel_right = vel+omega*L/2 # in mm/s
self.vel_left = vel-omega*L/2
def _drive(self, data):
logger.debug("Drive")
if not (len(data) == 5):
logger.warning("Drive command should have 5 bytes, received %d" %
len(data))
else:
# Math for driving in a circle
vel = pici.bytes2val(data[1], data[2])
radius = pici.bytes2val(data[3], data[4])
if radius == 32678 or radius == 32767:
# Straight
self.vel_right = vel
self.vel_left = vel
elif radius == -1:
# turn in place clockwise
self.vel_right = vel
self.vel_left = -vel
elif radius == 1 or abs(radius) < 1:
# turn in place counter-clockwise
self.vel_right = -vel
self.vel_left = vel
else:
# radius = v/omega
omega = float(vel) / float(radius) # rad/s
L = self.L # distance between wheels in mm
#R = 65.0/2 # Radius of the wheels
self.vel_right = vel + omega * L / 2 # in mm/s
self.vel_left = vel - omega * L / 2
def _drive_direct(self, data):
logger.debug("Drive Direct")
if not (len(data) == 5):
logger.warning(
"Direct Drive command should have 5 bytes, recieved %d" %
len(data))
else:
self.vel_right = pici.bytes2val(data[1], data[2])
self.vel_left = pici.bytes2val(data[3], data[4])
