def data_handler(self, bin_data_pack):
wheel0, wheel1, wheel2 = \
self.protocol.decode(bin_data_pack)
self.speeds.data = [wheel0, wheel1, wheel2]
ChassisDev.pub_data_update(self, self.speeds)
def data_handler(self, bin_data_pack):
counter0, counter1, counter2 = \
self.protocol.decode(bin_data_pack)
self.counters.data = [counter0, counter1, counter2]
ChassisDev.pub_data_update(self, self.counters)
def data_handler(self, bin_data_pack):
wheel0, wheel1, wheel2 = \
self.protocol.decode(bin_data_pack)
self.speeds.data = [wheel0, wheel1, wheel2]
ChassisDev.pub_data_update(self, self.speeds)
def data_handler(self, bin_data_pack):
counter0, counter1, counter2 = \
self.protocol.decode(bin_data_pack)
self.counters.data = [counter0, counter1, counter2]
ChassisDev.pub_data_update(self, self.counters)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "Speed",
pub_topic = "/speed_wheel",
pub_msg_class = Float32MultiArray,
pub_rate = 20)
self.speeds = Float32MultiArray()
self.speeds.data = [0,0,0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"Speed",
pub_topic="/speed_wheel",
pub_msg_class=Float32MultiArray,
pub_rate=20)
self.speeds = Float32MultiArray()
self.speeds.data = [0, 0, 0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
try:
voltage, rate, _,_ = \
self.protocol.decode(bin_data_pack)
except e:
print e
return
self.battery_status.voltage = voltage
self.battery_status.rate = rate
self.battery_status.charge_state = 0
if voltage > 2000:
self.battery_status.percentage = 100 - (2520 - voltage)/4
else:
self.battery_status.percentage = 100 - (1260 - voltage)/1.6
ChassisDev.pub_data_update(self, self.battery_status)
def data_handler(self, bin_data_pack):
if struct.unpack("20B", bin_data_pack)[2] == self.TYPE_GYRO:
try:
x, y, z = self.protocol.decode(bin_data_pack)
self.imu.angular_velocity.x = x
self.imu.angular_velocity.y = y
self.imu.angular_velocity.z = z
self.imu.header.frame_id = "base_footprint"
self.imu.header.stamp = rospy.Time.now()
ChassisDev.pub_data_update(self, self.imu)
except Exception as e:
print e
return
else:
try:
x, y, z = self.protocol.decode(bin_data_pack)
self.imu.linear_acceleration.x = x
self.imu.linear_acceleration.y = y
self.imu.linear_acceleration.z = z
except e:
print e
return
def data_handler(self, bin_data_pack):
if struct.unpack("20B", bin_data_pack)[2] == self.TYPE_GYRO:
try:
x, y, z = \
self.protocol.decode(bin_data_pack)
self.imu.angular_velocity.x = x
self.imu.angular_velocity.y = y
self.imu.angular_velocity.z = z
self.imu.header.frame_id = 'base_footprint'
self.imu.header.stamp = rospy.Time.now()
ChassisDev.pub_data_update(self, self.imu)
except Exception as e:
print e
return
else:
try:
x, y, z = \
self.protocol.decode(bin_data_pack)
self.imu.linear_acceleration.x = x
self.imu.linear_acceleration.y = y
self.imu.linear_acceleration.z = z
except e:
print e
return
