def run(self):
r = rospy.Rate(100) # 100hz
tf = 0.1
while not rospy.is_shutdown():
t = rospy.get_time()
msg = MicroPosition()
msg.posA = int(0)
msg.posB = int(0)
msg.laser = self._laser
self.pub.publish(msg)
r.sleep()
def run(self):
r = rospy.Rate(100) # 100hz
tf = 0.1
while not rospy.is_shutdown():
t = rospy.get_time()
msg = MicroPosition()
msg.posA = int(0)
msg.posB = int(0)
msg.laser = self._laser
self.pub.publish(msg)
r.sleep()
def run(self):
r = rospy.Rate(100) # 100hz
tf = 0.1
while not rospy.is_shutdown():
t = rospy.get_time()
x = math.sin( tf*2*math.pi*t ) * ((2**14)-1) * self.range
y = math.cos( tf*2*math.pi*t ) * ((2**14)-1) * self.range
msg = MicroPosition()
msg.posA = int(round(x))
msg.posB = int(round(y))
msg.laser = self._laser
self.pub.publish(msg)
r.sleep()
def run(self):
r = rospy.Rate(100) # 100hz
tf = 0.1
while not rospy.is_shutdown():
t = rospy.get_time()
x = math.sin(tf * 2 * math.pi * t) * 2**14
y = math.cos(tf * 2 * math.pi * t) * 2**14
print x, y
msg = MicroPosition()
msg.posA = int(round(x))
msg.posB = int(round(y))
self.pub.publish(msg)
r.sleep()
def pixels_for_dac( self, dac ):
two, n_dacs = dac.shape
pixels = []
if 1:
dur = n_dacs*PER_PIXEL_SECONDS
print 'duration will be %.1f seconds'%dur
for i in range(n_dacs):
daca, dacb = dac[:,i]
msg = MicroPosition()
msg.posA = daca
msg.posB = dacb
self.pub.publish(msg)
rospy.sleep(PER_PIXEL_SECONDS) # allow msec
pixels.append(self.get_last_pixel(timeout=WAIT))
pixels = np.array(pixels).T
return pixels
a = int(sys.argv[1], 16)
try:
b = int(sys.argv[2])
except ValueError:
print 'input B is hex'
b = int(sys.argv[2], 16)
try:
try:
c = int(sys.argv[3])
except ValueError:
print 'input C is hex'
c = int(sys.argv[3], 16)
except IndexError:
c = 0
print 'got values', a, b, c
print 'hex', hex(a), hex(b), hex(c)
rospy.init_node('pos')
pub = rospy.Publisher('/flymad_micro/position', MicroPosition)
for i in range(10):
time.sleep(0.1)
msg = MicroPosition()
msg.posA = a
msg.posB = b
msg.laser = c
pub.publish(msg)
a = int(sys.argv[1],16)
try:
b = int(sys.argv[2])
except ValueError:
print 'input B is hex'
b = int(sys.argv[2],16)
try:
try:
c = int(sys.argv[3])
except ValueError:
print 'input C is hex'
c = int(sys.argv[3],16)
except IndexError:
c = 0
print 'got values',a,b,c
print 'hex',hex(a),hex(b),hex(c)
rospy.init_node('pos')
pub = rospy.Publisher( '/flymad_micro/position', MicroPosition )
for i in range(10):
time.sleep(0.1)
msg = MicroPosition()
msg.posA = a
msg.posB = b
msg.laser = c
pub.publish(msg)
