class PhidgetsAccelerometer: def __init__(self): rospy.init_node('accelerometer', anonymous=True) self.name = rospy.get_param('~name', '') self.serial = rospy.get_param('~serial_number', -1) self.x_axis_id = rospy.get_param('~x_axis_id', 0) self.y_axis_id = rospy.get_param('~y_axis_id', 1) self.z_axis_id = rospy.get_param('~z_axis_id', 2) self.sensitivity = rospy.get_param('~sensitivity', 0.0) if self.serial == -1: rospy.logwarn( "No serial number specified. This node will connect to the first accelerometer attached." ) self.accelerometer = Accelerometer() def initialize(self): try: self.accelerometer.setOnAttachHandler(self.accelerometerAttached) self.accelerometer.setOnDetachHandler(self.accelerometerDetached) self.accelerometer.setOnErrorhandler(self.accelerometerError) self.accelerometer.setOnAccelerationChangeHandler( self.accelerationChanged) self.accelerometer.openPhidget(self.serial) except PhidgetException, e: rospy.logfatal("Phidget Exception %i: %s" % (e.code, e.message)) sys.exit(1)
class PhidgetsAccelerometer: def __init__(self): rospy.init_node('accelerometer', anonymous=True) self.name = rospy.get_param('~name', '') self.serial = rospy.get_param('~serial_number', -1) self.x_axis_id = rospy.get_param('~x_axis_id', 0) self.y_axis_id = rospy.get_param('~y_axis_id', 1) self.z_axis_id = rospy.get_param('~z_axis_id', 2) self.sensitivity = rospy.get_param('~sensitivity', 0.0) if self.serial == -1: rospy.logwarn("No serial number specified. This node will connect to the first accelerometer attached.") self.accelerometer = Accelerometer() def initialize(self): try: self.accelerometer.setOnAttachHandler(self.accelerometerAttached) self.accelerometer.setOnDetachHandler(self.accelerometerDetached) self.accelerometer.setOnErrorhandler(self.accelerometerError) self.accelerometer.setOnAccelerationChangeHandler(self.accelerationChanged) self.accelerometer.openPhidget(self.serial) except PhidgetException, e: rospy.logfatal("Phidget Exception %i: %s" % (e.code, e.message)) sys.exit(1)
def AccelerometerError(e): print "Phidget Error %i: %s" % (e.eCode, e.description) return 0 def AccelerometerAccelerationChanged(e): print "Axis %i: %6f" % (e.index, e.acceleration) return 0 #Main Program Code try: accelerometer.setOnAttachHandler(AccelerometerAttached) accelerometer.setOnDetachHandler(AccelerometerDetached) accelerometer.setOnErrorhandler(AccelerometerError) accelerometer.setOnAccelerationChangeHandler( AccelerometerAccelerationChanged) except PhidgetException, e: print "Phidget Exception %i: %s" % (e.code, e.message) print "Exiting...." exit(1) print "Opening phidget object...." try: accelerometer.openPhidget() except PhidgetException, e: print "Phidget Exception %i: %s" % (e.code, e.message) print "Exiting...." exit(1) print "Waiting for attach...."
return 0 def AccelerometerError(e): print "Phidget Error %i: %s" % (e.eCode, e.description) return 0 def AccelerometerAccelerationChanged(e): print "Axis %i: %6f" % (e.index, e.acceleration) return 0 #Main Program Code try: accelerometer.setOnAttachHandler(AccelerometerAttached) accelerometer.setOnDetachHandler(AccelerometerDetached) accelerometer.setOnErrorhandler(AccelerometerError) accelerometer.setOnAccelerationChangeHandler(AccelerometerAccelerationChanged) except PhidgetException, e: print "Phidget Exception %i: %s" % (e.code, e.message) print "Exiting...." exit(1) print "Opening phidget object...." try: accelerometer.openPhidget() except PhidgetException, e: print "Phidget Exception %i: %s" % (e.code, e.message) print "Exiting...." exit(1) print "Waiting for attach...."