def __init__(self, group):
self.group = group
self.base_command = hebi.GroupCommand(group.size)
self.base_feedback = hebi.GroupFeedback(group.size)
self.trajectory = None
self.trajectory_start_time = 0
self.start_wheel_pos = np.array([0, 0])
self.color = hebi.Color(0, 0, 0)
sleep(3) # Set the LED Blue, and then clear the command. # Note that this "clear" does not return the LED to module control, but # rather remove any LED command from the command object, so when this is sent # to the module the LED state won't be affected. group_command.led.color = 'blue' group_command.led.color = None group.send_command(group_command) sleep(3) # Set the LED to "module control" mode; the first three digits are ignored # if the 'alpha' value is zero. group_command.led.color = 'transparent' group.send_command(group_command) sleep(3) # Set the LED purple. Note that this override automatically sets the alpha # channel to "255" (e.g., arguments are RGB). group_command.led.color = hebi.Color(0, 255, 255) group.send_command(group_command) sleep(3) # Set the LED to module control. group_command.led.color = 'transparent' group.send_command(group_command)