def __init__(self):
rospy.init_node('accelerometer', anonymous=True)
self.name = rospy.get_param('~name', '')
self.serial = rospy.get_param('~serial_number', -1)
self.x_axis_id = rospy.get_param('~x_axis_id', 0)
self.y_axis_id = rospy.get_param('~y_axis_id', 1)
self.z_axis_id = rospy.get_param('~z_axis_id', 2)
self.sensitivity = rospy.get_param('~sensitivity', 0.0)
if self.serial == -1:
rospy.logwarn(
"No serial number specified. This node will connect to the first accelerometer attached."
)
self.accelerometer = Accelerometer()
__author__ = 'Adam Stelmack'
__version__ = '2.1.4'
__date__ = 'May 02 2008'
#Basic imports
from threading import *
from ctypes import *
import sys
#Phidget specific imports
from Phidgets.PhidgetException import *
from Phidgets.Events.Events import *
from Phidgets.Devices.Accelerometer import *
#Create an accelerometer object
accelerometer = Accelerometer()
#Information Display Function
def DisplayDeviceInfo():
print "|------------|----------------------------------|--------------|------------|"
print "|- Attached -|- Type -|- Serial No. -|- Version -|"
print "|------------|----------------------------------|--------------|------------|"
print "|- %8s -|- %30s -|- %10d -|- %8d -|" % (
accelerometer.isAttached(), accelerometer.getDeviceType(),
accelerometer.getSerialNum(), accelerometer.getDeviceVersion())
print "|------------|----------------------------------|--------------|------------|"
print "Number of Axes: %i" % (accelerometer.getAxisCount())
return 0
