def talker():
pub = rospy.Publisher('chatter', String)
rospy.init_node('talker')
robot = WheeledRobin()
#serial = SerialCommandInterface('/dev/ttyUSB0', 38400)
robot.start()
robot.control()
rospy.sleep(1.0)
robot.sci.control_params(80,15,100,50,5,30)
r = rospy.Rate(100)
while not rospy.is_shutdown():
#rospy.loginfo("Driving with -200 mm/s")
robot.drive(0, 0)
#rospy.loginfo(" ")
#robot.sci.sensors(1)
#a = robot.sci.ser.read(17)
#robot.sci.flush_input()
#rospy.sleep(0.5)
#robot.sci.sensors(22)
#b = robot.sci.ser.read(1)
# PacketID:0
#(e1,e2,e3,e4,e5,e6,e7,e8,e9,e10,e11,e12,e13,e14,e15,e16) = struct.unpack('>8h1B5h2B',a)
#printf('res: %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r, %r\n',e1,e2,e3,e4,e5,e6,e7,e8,e9,e10,e11,e12,e13,e14,e15,e16)
# PacketID:1
#(e1,e2,e3,e4,e5,e6,e7,e8,e9) = struct.unpack('>8h1B',a)
#printf('res: %r, %r, %r, %r, %r, %r, %r, %r, %r\n',e1,e2,e3,e4,e5,e6,e7,e8,e9)
# PacketID:7-22
#(e2) = struct.unpack('>h',a)
#printf('res: %r\n', e2)
#rospy.loginfo(a)
r.sleep()
