def panTilt_Handle(self,pan,tilt): global ang_pan global ang_tilt #pantilt = Pantilt('/dev/ttyUSB2',9600) #Change port and baudrate #pantilt.open() #pantilt.set_angle(pan,tilt) #pan,tilt time.sleep(3) punto = Pan_tilt_mess() punto.pan = pan punto.tilt = tilt ang_pan = pan ang_tilt = tilt self.__sub_pan_tilt.publish(punto)
def move_pan_tilt(self): if self.guardian: if self.pan != 0 or self.tilt != 0: self.pan = 0 self.tilt = 0 pan_move = Pan_tilt_mess() pan_move.pan = 0 pan_move.tilt = 0 pan_move.reset = 1 self.pub_pan_tilt.publish(pan_move) else: pan_move = Pan_tilt_mess() pan_move.pan = self.pan pan_move.tilt = self.tilt pan_move.reset = 0 self.pub_pan_tilt.publish(pan_move)