def received_corrected_command(self, motor_cmd):
# this signal comes directly from the antenna
if self.learning == 1 or self.learning == 2:
motor_cmd = motor_cmd[0]
msg = Message()
msg.put('x',float(motor_cmd[0]))
msg.put('y',float(motor_cmd[1]))
msg.put('z',float(motor_cmd[2]))
msg.put('w',float(motor_cmd[3]))
self.emit("command-out", msg)
def received_predicted_command(self, motor_cmd):
# this signal is produced by the salmon algorithm
if self.learning == 0:
print 'salmon command = ', motor_cmd
motor_cmd = motor_cmd[0]
msg = Message()
msg.put('x',float(motor_cmd[0]))
msg.put('y',float(motor_cmd[1]))
msg.put('z',float(motor_cmd[2]))
msg.put('w',float(motor_cmd[3]))
self.emit("command-out", msg)