def picture_callback(channel, msg):
global taking_picture
data = PiPicture.decode(msg)
if index != data.index or taking_picture:
return
stop_pipeline()
taking_picture = True
exec_later(take_picture())
def sa_motor_callback(channel, msg):
m = SAMotors.decode(msg)
exec_later(rover.percent_vbus_drive(Talons.drill.value, m.drill))
exec_later(rover.percent_vbus_drive(Talons.lead_screw.value, m.lead_screw))
exec_later(
rover.percent_vbus_drive(Talons.door_actuator.value, m.door_actuator))
exec_later(rover.percent_vbus_drive(Talons.cache.value, m.cache))
def process_param_set_msg(bus, msg, device_id):
param = talon_srx.Param(msg.data[0])
raw_bits = struct.unpack('<I', msg.data[1:5])[0]
val = raw_bits
if param in (talon_srx.Param.ProfileParamSlot0_P,
talon_srx.Param.ProfileParamSlot0_I,
talon_srx.Param.ProfileParamSlot0_D,
talon_srx.Param.ProfileParamSlot1_P,
talon_srx.Param.ProfileParamSlot1_I,
talon_srx.Param.ProfileParamSlot1_D):
val = talon_srx.fxp_10_22_to_float(raw_bits)
print('setting parameter {} to {}'.format(param.name, val))
msg = aiocan.Message(arb_id=(talon_srx.PARAM_RESPONSE | device_id),
extended_id=True,
data=msg.data)
exec_later(bus.send(msg))
def open_loop_arm_callback(channel, msg):
m = OpenLoopRAMotors.decode(msg)
exec_later(rover.percent_vbus_drive(Talons.arm_joint_a.value, m.joint_a))
exec_later(rover.percent_vbus_drive(Talons.arm_joint_b.value, m.joint_b))
exec_later(rover.percent_vbus_drive(Talons.arm_joint_c.value, m.joint_c))
exec_later(rover.percent_vbus_drive(Talons.arm_joint_d.value, m.joint_d))
exec_later(rover.percent_vbus_drive(Talons.arm_joint_e.value, m.joint_e))
exec_later(rover.percent_vbus_drive(Talons.arm_joint_f.value, m.joint_f))
def arm_demand_callback(channel, msg):
m = Encoder.decode(msg)
exec_later(rover.position_pid_drive(Talons.arm_joint_a.value, m.joint_a))
exec_later(rover.position_pid_drive(Talons.arm_joint_b.value, m.joint_b))
exec_later(rover.position_pid_drive(Talons.arm_joint_c.value, m.joint_c))
exec_later(rover.position_pid_drive(Talons.arm_joint_d.value, m.joint_d))
exec_later(rover.position_pid_drive(Talons.arm_joint_e.value, m.joint_e))
exec_later(rover.position_pid_drive(Talons.arm_joint_f.value, m.joint_f))
def drive_motor_callback(channel, msg):
m = DriveMotors.decode(msg)
exec_later(rover.percent_vbus_drive(Talons.left_front.value, m.left))
exec_later(rover.percent_vbus_drive(Talons.right_front.value, m.right))
def set_demand_callback(channel, msg):
m = SetDemand.decode(msg)
exec_later(rover.talons[m.deviceID].set_demand(m.value, m.control_mode))
def set_param_callback(channel, msg):
m = SetParam.decode(msg)
exec_later(rover.talons[m.deviceID].set_param(m.paramID, m.value))