def joy_feedback_array(cls, msg, obj): for i in range(msg['_length']): jf = JoyFeedback() jf.type = msg['%s_type' % i] jf.id = msg['%s_id' % i] jf.intensity = msg['%s_intensity' % i] obj.array.append(jf) return(obj)
def setPS3LED(self): led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led0.intensity = 1. led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led1.intensity = 0. led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led2.intensity = 0. led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 led3.intensity = 0. rum0 = JoyFeedback() rum0.type = JoyFeedback.TYPE_RUMBLE rum0.id = 0 rum0.intensity = 0. rum1 = JoyFeedback() rum1.type = JoyFeedback.TYPE_RUMBLE rum1.id = 1 rum1.intensity = 0. feedback = JoyFeedbackArray() feedback.array = [led0,led1,led2,led3,rum0,rum1] self.ps3joy_pub.publish(feedback) rospy.loginfo("setPS3LED: "+str(feedback))
def talker(): pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray) rospy.init_node('ledControlTester', anonymous=True) led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 while not rospy.is_shutdown(): msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum] rum.intensity = 0.6 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) rum.intensity = 0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION)
def cb_rum(self, event): if self.gripperL._state.force > 20 and self.rumFlag == True: rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 rum.intensity = 0.51 msg = JoyFeedbackArray() msg.array = [rum] self.pub.publish(msg) rospy.sleep(0.3) rum.intensity = 0.0 msg.array = [rum] self.pub.publish(msg) self.rumFlag = False if self.gripperL._state.force == 0: self.rumFlag = True
def light_thread(): global lights, max_delay on = True delay = 0.5 all_blink = True while not rospy.is_shutdown(): set_lights = lights[:-1] msg = JoyFeedbackArray() for i in range(4): unit_msg = JoyFeedback() unit_msg.type = 0 unit_msg.id = i if set_lights[i] == True: unit_msg.intensity = 30.0 if set_lights[i] == "blinking" and on: unit_msg.intensity = 30.0 if set_lights[i] == False: unit_msg.intensity = 0.0 if set_lights[i] == "blinking" and not on: unit_msg.intensity = 0.0 msg.array.append(unit_msg) light_pub.publish(msg) sleep(delay) on = not on
def talker(): pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=1) rospy.init_node('ledControlTester', anonymous=True) led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 while not rospy.is_shutdown(): msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum] led0.intensity = 0.2 led3.intensity = 0.2 rum.intensity = 0.49 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 1.0 rum.intensity = 0.51 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 0.0 led1.intensity = 1.0 rum.intensity = 0.0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led1.intensity = 0.0 led2.intensity = 1.0 rum.intensity = 0.7 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led2.intensity = 0.0 led3.intensity = 1.0 rum.intensity = 0.49 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led1.intensity = 1.0 led2.intensity = 1.0 rum.intensity = 1.0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 1.0 led1.intensity = 0.4 led2.intensity = 0.4 msg.array = [led0, led1, led2] if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION)
#LED OFF pass print(siita) pub.publish(msg) past=data rospy.Subscriber('/wiimote/state', State, callback, queue_size=10) pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=10) #stm = rospy.Publisher('/stm', stm_carrot, queue_size=1) rospy.init_node('ledControlTester', anonymous=True) led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum]