def __init__(self): self.output_topic = rospy.get_param('~output_topic', '/cmd_vel') self.joy_UID = rospy.get_param('~tinkerforge_joy_UID', 'waz') self.tinkerforge_host = rospy.get_param('~tinkerforge_host', 'localhost') self.tinkerforge_port = rospy.get_param('~tinkerforge_port', 4223) self.actual_steering = 0 self.pub = rospy.Publisher(self.output_topic, Twist, queue_size=1) self.ipcon = IPConnection() # Create IP connection self.joy = BrickletJoystick(self.joy_UID, self.ipcon) self.ipcon.connect(self.tinkerforge_host, self.tinkerforge_port)
def try_bricklet(self, uid, device_identifier, position): if device_identifier == 210: self.inputs["joystick"] = BrickletJoystick(uid, self.controller.ipcon) self.inputs["joystick"].set_debounce_period(400) self.inputs["joystick"].register_callback( self.inputs["joystick"].CALLBACK_POSITION_REACHED, self.joystick_position) self.inputs["joystick"].register_callback( self.inputs["joystick"].CALLBACK_PRESSED, self.joystick_pushed) self.inputs["joystick"].set_position_callback_threshold( "o", -99, 99, -99, 99) if device_identifier == 234: self.inputs["multitouch"] = BrickletMultiTouch( uid, self.controller.ipcon) self.inputs["multitouch"].set_electrode_sensitivity(125) self.inputs["multitouch"].register_callback( self.inputs["multitouch"].CALLBACK_TOUCH_STATE, self.multitouch)
if y == 100: print('Top') elif y == -100: print('Bottom') if x == 100: print('Right') elif x == -100: print('Left') print("") if __name__ == "__main__": ipcon = IPConnection() # Create IP connection j = BrickletJoystick(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected # Get threshold callbacks with a debounce time of 0.2 seconds (200ms) j.set_debounce_period(200) # Register position reached callback to function cb_position_reached j.register_callback(j.CALLBACK_POSITION_REACHED, cb_position_reached) # Configure threshold for position "outside of -99, -99 to 99, 99" j.set_position_callback_threshold("o", -99, 99, -99, 99) input("Press key to exit\n") # Use raw_input() in Python 2 ipcon.disconnect()
print("Stepper -> Zurück") stepper.drive_backward() else: print("Puffer erreicht") stepper.stop() if __name__ == "__main__": ipcon = IPConnection() dcb = BrickDC(UIDdcb, ipcon) oled = BrickletOLED128x64(UIDoled, ipcon) poti = BrickletLinearPoti(UIDpoti, ipcon) ropoti = BrickletRotaryPoti(UIDropoti, ipcon) stepper = BrickStepper(UIDstepper, ipcon) joystick = BrickletJoystick(UIDjoystick, ipcon) irsensor = BrickletDistanceIR(UIDirsensor, ipcon) ipcon.connect(HOST, PORT) print("Verbindung unter folgenden Daten: \nIP: " + HOST + "\nPort: " + PORT) o_clear() print("Einstellungen werden gesetzt") o_write(1, 5, "Einstellungen") o_write(1, 5, "werden gesetzt") ctrl_hz_fan = 5000 dcb.set_pwm_frequency(5000) dcb.set_acceleration(5000)