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)