def __init__(self,
target_name,
target_addr,
port,
default_update_rate=50.0):
self.update_rate = default_update_rate
self.sampling_divisor = int(400 / self.update_rate)
self.is_connected = False
#self._init_pubsub()
self._init_params()
#self.robot = sphero_driver.Sphero(target_name, target_addr)
if target_name:
if target_addr:
if port:
self.robot = sphero_driver.Sphero(target_name, target_addr,
port)
else:
self.robot = sphero_driver.Sphero(target_name, target_addr)
else:
self.robot = sphero_driver.Sphero(target_name)
else:
self.robot = sphero_driver.Sphero()
#self.imu = Imu()
#self.imu.orientation_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
#self.imu.angular_velocity_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
#self.imu.linear_acceleration_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
#self.last_cmd_vel_time = rospy.Time.now()
#self.last_diagnostics_time = rospy.Time.now()
self.cmd_heading = 0
self.cmd_speed = 0
self.power_state_msg = "No Battery Info"
self.power_state = 0
def __init__(self, default_update_rate=50.0):
self.update_rate = default_update_rate
self.sampling_divisor = int(400 / self.update_rate)
self.is_connected = False
self.robot = sphero_driver.Sphero()
self.cmd_heading = 0
self.cmd_speed = 0
self.power_state_msg = "No Battery Info"
self.power_state = 0
self.collipy = np.matrix([0, 0, 0, 0, 0, 0])
self.t = np.matrix([0])
def __init__(self, default_update_rate=50.0):
"""
Initialize internal sampling frequency, parameters and subscribers and publishers.
"""
# Set desired update rate.
self.update_rate = default_update_rate
self.sampling_divisor = int(400 / self.update_rate)
# Get Sphero name and address.
self.is_connected = False
self.is_enabled = False
self._namespace = rospy.get_namespace()
self._address = rospy.get_param("~address")
self.robot = sphero_driver.Sphero(
self._address) # A new instance of Sphero
self._init_pubsub() # Create publishers and subscribers.
self._init_params() # Initialize parameters.
#!/usr/bin/python import time import sphero_driver import sys sp = sphero_driver.Sphero() sp.connect() #sp.set_raw_data_strm(40, 1 , 0, False) #sp.start() sp.set_rgb_led(255, 0, 0, 0, False) time.sleep(1) sp.set_rgb_led(0, 255, 0, 0, False) time.sleep(1) sp.set_rgb_led(0, 0, 255, 0, False) time.sleep(1) #sp.set_heading(180, False) #time.sleep(3) sp.roll(100, 0, 1, False) time.sleep(1) sp.roll(100, 90, 1, False) time.sleep(1) sp.roll(100, 180, 1, False) time.sleep(1) sp.roll(100, 270, 1, False) time.sleep(1) #sphero.join() #sphero.disconnect() sys.exit(1)
patterns.
You can find more infomation using this link:
http://zeromq.org
'''
import zmq
import math
import signal
import sphero_driver
import time
import matplotlib.pyplot as plt
import numpy as np
from sys import stdin, exit
sphero = sphero_driver.Sphero();
def signal_handler(signal, frame):
print 'Exiting the program right now'
sphero.set_back_led(0, False)
sphero.disconnect();
exit(0)
def det_angle(confidence, norm_pos, con_level, data_range):
'''
Determite which angle the user
is looking at. By the definition of sphero.
0 degree is going forward. So in y direction
it is considered as 0 degree. The minimum is 0
degree. The maximum is 359 degree.
'''