def get_pose( self ): # TODO test! def degrees_to_uint8( degrees ): return ( degrees * 2 ** 8 ) / 180 pose = leg_pose() pose.hip_angle = degrees_to_uint8( self.con.servos[self.hipServoNum].getOffsetDeg() ) pose.knee_angle = degrees_to_uint8( self.con.servos[self.kneeServoNum].getOffsetDeg() ) pose.ankle_angle = degrees_to_uint8( self.con.servos[self.ankleServoNum].getOffsetDeg() ) return pose
def __init__(self,con,name,hipServoNum,kneeServoNum,ankleServoNum,simOrigin=(0,3,0)): self.con = con self.name = name self.hipServoNum = hipServoNum self.kneeServoNum = kneeServoNum self.ankleServoNum = ankleServoNum l = leg_pose() l.hip_angle = 2 rospy.logwarn(l)