def go(self):
roboclaw.calibrateRoboclaws()
print "Searching for Vektor Locations Service..."
rospy.wait_for_service('locations')
print "Searching for Vektor Locations Update Service..."
rospy.wait_for_service('commandSent')
print "Entering Gameplay"
rospy.init_node('commandNode')
rospy.Service('commcenter', commcenter, self.executeCommCenterCommand)
s = sched.scheduler(time.time, time.sleep)
s.enter(0,1,self.executionLoop,(s,))
s.run()
def go(self):
roboclaw.calibrateRoboclaws()
print "Searching for Vektor Locations Service..."
rospy.wait_for_service('locations')
print "Searching for Vektor Locations Update Service..."
rospy.wait_for_service('commandSent')
print "Entering Gameplay"
rospy.init_node('commandNode')
rospy.Service('commcenter', commcenter, self.executeCommCenterCommand)
s = sched.scheduler(time.time, time.sleep)
s.enter(0, 1, self.executionLoop, (s, ))
s.run()
from kalman_filter import Robot
from param import *
from motor_control import velchange
import Point
import MotionSkills
import time
from motor_control import roboclaw
print("Go to point")
#this sets the pid constants
roboclaw.calibrateRoboclaws()
Motion_Skills = MotionSkills.MotionSkills()
state = Robot.State()
desiredPoint = Point.Point(1.75, 0.5)
command = Motion_Skills.go_to_point(state, desiredPoint)
velchange.goXYOmega(command.vel_x, command.vel_y, 0)
print("Run Time: %s" % command.runTime)
time.sleep(command.runTime)
velchange.goXYOmega(0,0,0)
