def get_raw_value(self, position):
"""
@param position: a human-friendly servo position, specified as a
floating-point number between -1.0 and 1.0
@return: the corresponding raw PWM integer value
"""
if self._id is None:
raise ServoError(
"The servo '%s' has not been configured" % self._name)
if position < 0:
return int(saturate(position, -1.0, 0.0, self._min, self._center))
else:
return int(saturate(position, 0.0, 1.0, self._center, self._max))
def get_raw_value(self, position):
"""
@param position: a human-friendly servo position, specified as a
floating-point number between -1.0 and 1.0
@return: the corresponding raw PWM integer value
"""
if self._id is None:
raise ServoError("The servo '%s' has not been configured" %
self._name)
if position < 0:
return int(saturate(position, -1.0, 0.0, self._min, self._center))
else:
return int(saturate(position, 0.0, 1.0, self._center, self._max))
def get_level(self):
"""
@return: the current charge of the battery as a percentage.
"""
if self.charge is None:
return None
return saturate(self.charge, self.empty, self.full, 0, 100)
def get_level(self):
"""
@return: the current charge of the battery as a percentage.
"""
if self.charge is None:
return None
return saturate(self.charge, self.empty, self.full, 0, 100)
def get_command(self, now):
"""
Queries the status of the subcomponents and returns the
final Recommendation object that sets the throttle and
steering.
@return: Recommendation
"""
rec = self._get_command_core(now)
if rec.throt > 0.0:
rec.throt = saturate(rec.throt,
0.01, 1.0,
self.min_throttle, self.max_throttle)
return rec
def on_update(self, msg, now):
forward = msg.x
turn = msg.y
if self.status == Ranger.PANIC:
self.rec = Recommendation(0.0, 0.0)
if self.panic_until < now:
self.status = Ranger.ESCAPE
self.escape_until = now + self.escape_duration
elif self.status == Ranger.ESCAPE:
self.rec = Recommendation(self.escape_speed,
turn * self.kp_steering_rev)
if self.escape_until < now:
self.status = Ranger.REGROUP
self.regroup_until = now + self.regroup_duration
elif self.status == Ranger.REGROUP:
self.rec = Recommendation(0.0, 0.0)
if self.regroup_until < now:
self.status = Ranger.GO
elif forward < self.panic_threshold:
self.rec = Recommendation(0.0, 0.0)
self.status = Ranger.PANIC
self.panic_until = now + self.panic_duration
else:
new_throttle = saturate(forward, self.x_low,
self.x_high,
0.01, 1.0)
new_steering = turn * self.kp_steering
if self.rec:
if abs(new_steering) < abs(self.rec.steer):
new_steering = self.smooth(new_steering, self.rec.steer)
self.rec = Recommendation(new_throttle, new_steering)
def on_update(self, msg, now):
throttle = saturate(msg.x,
self.x_low, self.x_high,
0.01, 1.0)
steering = msg.y * self.kp_steering
self.rec = Recommendation(throttle, steering)