def __send_commands(self, drive_angle, drive_distance):
left, right = self.__compute_speed(drive_angle, drive_distance)
current_timestamp = time.time()
scan_factor = logic.compute_data_trust(self.__scan.timestamp / 1000.0, current_timestamp)
location_factor = logic.compute_data_trust(self.__locator.get_last_update_timestamp(), current_timestamp)
left = left * scan_factor * location_factor
right = right * scan_factor * location_factor
left, right = int(left), int(right)
self.__driver_proxy.send_motors_command(left, right, left, right)
def __send_commands(self, drive_angle, drive_distance):
left, right = self.__compute_speed(drive_angle, drive_distance)
current_timestamp = time.time()
scan_factor = logic.compute_data_trust(self.__scan.timestamp / 1000.0,
current_timestamp)
location_factor = logic.compute_data_trust(
self.__locator.get_last_update_timestamp(), current_timestamp)
left = left * scan_factor * location_factor
right = right * scan_factor * location_factor
left, right = int(left), int(right)
self.__driver_proxy.send_motors_command(left, right, left, right)
def __call__(self, speeds):
motion = self.__motion
if motion is not None:
current_timestamp = time.time()
apply_factor(speeds, logic.compute_data_trust(motion.timestamp / 1000.0, current_timestamp))
apply_factor(speeds, self.__acceleration_factor)
apply_factor(speeds, self.__rotational_factor)
def __call__(self, speeds):
scan = self.__scan
if scan is not None:
avoid(speeds, scan)
if speeds.radius is not None and 0.0 < abs(speeds.radius) and \
abs(speeds.speed_left - speeds.speed_right) > 25.0:
new_radius = compute_new_radius(speeds, scan)
if abs(speeds.radius - new_radius) > 0.0:
change_radius(speeds, new_radius)
limit_speed(speeds, scan)
current_timestamp = time.time()
apply_factor(speeds, logic.compute_data_trust(scan.timestamp / 1000.0, current_timestamp))
apply_factor(speeds, self.__distance_factor)
