def main(): hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0) # look LCMSubscription.queue_capacity if messages are discarded lcm_.subscribe("/drive_control", drive_control_callback) lcm_.subscribe("/autonomous", autonomous_callback) lcm_.subscribe('/motor', motor_callback) lcm_.subscribe('/arm_control', arm_control_callback) lcm_.subscribe('/sa_control', sa_control_callback) lcm_.subscribe('/encoder', encoder_callback) lcm_.subscribe('/arm_demand', enc_out_callback) # lcm_.subscribe('/arm_demand', transmit_fake_encoders) new_encoder = Encoder() new_encoder.joint_a = 0 new_encoder.joint_b = 0 new_encoder.joint_c = 0 new_encoder.joint_d = 0 new_encoder.joint_e = 0 new_encoder.joint_f = 0 lcm_.publish('/encoder', new_encoder.encode()) run_coroutines(hb.loop(), transmit_fake_odometry(), transmit_fake_sensors(), lcm_.loop(), transmit_temperature(), transmit_drive_status())
def main(): hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0) # look LCMSubscription.queue_capacity if messages are discarded lcm_.subscribe("/drive_control", drive_control_callback) lcm_.subscribe("/autonomous", autonomous_callback) lcm_.subscribe('/arm_control', arm_control_callback) lcm_.subscribe('/sa_control', sa_control_callback) run_coroutines(hb.loop(), lcm_.loop(), transmit_temperature(), transmit_drive_status())
def main(): hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0) # look LCMSubscription.queue_capacity if messages are discarded lcm_.subscribe("/joystick", joystick_callback) lcm_.subscribe("/autonomous", autonomous_callback) lcm_.subscribe('/motor', motor_callback) new_kill_msg = Kill_switches() new_kill_msg.killed = False lcm_.publish('/kill_switch', new_kill_msg.encode()) run_coroutines(hb.loop(), transmit_fake_odometry(), transmit_fake_sensors(), lcm_.loop())
def main(): global index index = int(sys.argv[1]) hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, index) Gst.init(None) read_settings() write_settings() lcm_.subscribe("/pi_camera", camera_callback) lcm_.subscribe("/pi_settings", settings_callback) lcm_.subscribe("/pi_picture", picture_callback) run_coroutines(lcm_.loop(), hb.loop(), connection_monitor())
def main(): hb = heartbeatlib.OnboardHeartbeater(connection_state_changed) run_coroutines(hb.loop(), transmit_fake_odometry())
def main(): hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, sys.argv[1]) run_coroutines(hb.loop())