def __init__(self, dev_name, pan_id, tilt_id, baudrate=57600,
pan_speed = math.radians(180),
tilt_speed = math.radians(180)):
self.pan_servo = rs.robotis_servo(dev_name,pan_id,baudrate,
max_speed = pan_speed)
self.tilt_servo = rs.robotis_servo(dev_name,tilt_id,baudrate,
max_speed = tilt_speed)
self.max_pan = self.pan_servo.max_ang
self.min_pan = self.pan_servo.min_ang
self.max_tilt = self.tilt_servo.max_ang
self.min_tilt = self.tilt_servo.min_ang
def __init__(self, dev_name, servo_id, hokuyo, baudrate=57600, l1=0.,l2=0.035, camera_name=None):
''' dev_name - name of serial device of the servo controller (e.g. '/dev/robot/servo0')
servo_id - 2,3,4 ... (2 to 253)
hokuyo - Hokuyo object.
baudrate - for the servo controller.
camera_name - name of the
'''
self.servo = rs.robotis_servo(dev_name,servo_id,baudrate)
self.hokuyo = hokuyo
self.l1 = l1
self.l2 = l2
