def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
def __init__(self):
self.state = self.State.LINEAR1
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.sensor_values = LightSensorValues()
self.switch_values = SwitchValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
rospy.Subscriber('/switchs', SwitchValues, self.callback2)
def setUp(self):
self.count = 0
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
self.values = LightSensorValues()
def __init__(self):
self._cmdVel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self._pubRunData = rospy.Publisher('/run_data', RunData, queue_size=1)
self._accel = rospy.get_param("/run_corridor/acceleration", 0.01)
self._decel = rospy.get_param("/run_corridor/deceleration", 0.02)
self._maxSpeed = rospy.get_param("/run_corridor/max_speed", 0.3)
self._minSpeed = rospy.get_param("/run_corridor/min_speed", 0.1)
self._servoTarget = rospy.get_param("/run_corridor/servo_target", 14.0)
self._servoKp = rospy.get_param("/run_corridor/servo_kp", 8.0)
self._servoKd = rospy.get_param("/run_corridor/servo_kd", 0.16)
self._servoOffThreshold = rospy.get_param(
"/run_corridor/servo_off_threshold", 4.0)
self._wallGain = rospy.get_param("/run_corridor/wall_gain", 1.0)
self._wallThreshold = rospy.get_param("/run_corridor/wall_threshold",
15.0)
self._nearWallThreshold = rospy.get_param(
"/run_corridor/near_wall_threshold", 10.0)
self._rightThreshold = rospy.get_param("/run_corridor/right_threshold",
21.0)
self._leftThreshold = rospy.get_param("/run_corridor/left_threshold",
21.0)
self._distanceValues = DistanceValues(LightSensorValues())
self._leftSideBuffer = [0.0, 0.0, 0.0]
self._rightSideBuffer = [0.0, 0.0, 0.0]
self._bufferIndex = 0
self._leftAverage = 0.0
self._rightAverage = 0.0
rospy.Subscriber('/lightsensors', LightSensorValues, self.Callback)
def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.led_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.led_callback)
self.range_values = [0] * 726
rospy.Subscriber("scan", LaserScan, self.urg_callback)
def __init__(self):
self.data = Twist()
self.threshold = 500
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.sensor_values = LightSensorValues()
self.switch_values = SwitchValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.LightSensors)
rospy.Subscriber('/switchs', SwitchValues, self.Switchs)
def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.accel = rospy.get_param("/run_corridor/acceleration")
self.max_speed = rospy.get_param("/run_corridor/max_speed")
self.min_speed = rospy.get_param("/run_corridor/min_speed")
self.servo_target = rospy.get_param("/run_corridor/servo_target")
self.servo_kp = rospy.get_param("/run_corridor/servo_kp")
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
def __init__(self):
self.state = 0
self.sensor_values = LightSensorValues()
self.button_status = ButtonValues()
self.led = rospy.Publisher('led_values', LedValues, queue_size=1)
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
rospy.Subscriber('/button_values', ButtonValues,
self.callback_button_status)
def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.goahead_param = 500
self.back_param = 1000
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
self.M = 0.10
self.M1 = 0.00
self.e = 0.00
self.e1 = 0.00
self.e2 = 0.00
self.goal = 600
self.Kp = 0.0002
self.Ki = 0.000025
self.Kd = 0.00010
def __init__(self):
self.count = 0
self.LAV = 0
self.RAV = 0
self.last_time = rospy.Time.now()
self.buzzerCount()
print "=======Sensor subscribing======="
self.sub_sensor_bef = rospy.Subscriber('lightsensors',
LightSensorValues,
self.calc_bef)
self.values = LightSensorValues()
print "=======motor controling======="
self.rate = rospy.Rate(1)
self.sub_cmd_vel_con = rospy.Subscriber('/turtle1/cmd_vel', Twist,
self.callback_cmd_vel)
self.cmd = Twist()
self.pub_cmd_vel_con = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rospy.spin()
return f
if __name__=='__main__':
devfile = '/dev/rtlightsensor0'
rospy.init_node('lightsensors')
pub = rospy.Publisher('lightsensors', LightSensorValues, queue_size=1)
freq = get_freq()
rate = rospy.Rate(freq)
while not rospy.is_shutdown():
try:
with open(devfile,'r') as f:
data = f.readline().split()
data = [ int(e) for e in data]
d = LightSensorValues()
d.right_forward = data[0]
d.right_side = data[1]
d.left_side = data[2]
d.left_forward = data[3]
d.sum_all = sum(data)
d.sum_forward = data[0] + data[3]
pub.publish(d)
except IOError:
rospy.logerr("cannot write to " + devfile)
f = get_freq()
if f != freq:
freq = f
rate = rospy.Rate(freq)
for i in range(2):
pub_cal.publish(500)
time.sleep(0.5)
pub_cal.publish(0)
time.sleep(0.5)
for i in range(1):
pub_cal.publish(500)
time.sleep(0.5)
pub_cal.publish(0)
time.sleep(0.5)
for i in range(1):
pub_cal.publish(1000)
time.sleep(0.5)
pub_cal.publish(0)
if __name__ == '__main__':
rospy.init_node('calibSensors')
pub_cal = rospy.Publisher('buzzer', UInt16, queue_size=1)
c = CalcAverage()
c.buzzerCount()
for i in range(1):
sub_sensor = rospy.Subscriber('lightsensors', LightSensorValues,
c.calc)
c.values = LightSensorValues()
time.sleep(1)
if __name__ == '__main__':
devfile = '/dev/rtlightsensor0'
rospy.init_node('lightsensors')
pub = rospy.Publisher('lightsensors', LightSensorValues, queue_size=1)
freq = get_freq()
rate = rospy.Rate(freq)
while not rospy.is_shutdown(): #cntrl+C で止まりやすくする
try:
with open(devfile, 'r') as f:
data = f.readline().split() #一行読んでタブ区切りで分ける
data = [int(e) for e in data] #data をint型に変更
d = LightSensorValues() #LightSensorValuesクラスのオブジェクト生成
d.right_forward = data[0]
d.right_side = data[1]
d.left_side = data[2]
d.left_forward = data[3]
d.sum_all = sum(data)
d.sum_forward = data[0] + data[3]
pub.publish(d)
except IOError:
rospy.logerr("cannot write to " + devfile)
f = get_freq()
if f != freq:
freq = f
rate = rospy.Rate(freq)
def __init__(self):
self.alert = rospy.Publisher('/buzzer',UInt16,queue_size=1)
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
