class PhidgetsAccelerometer:
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()
def initialize(self):
try:
self.accelerometer.setOnAttachHandler(self.accelerometerAttached)
self.accelerometer.setOnDetachHandler(self.accelerometerDetached)
self.accelerometer.setOnErrorhandler(self.accelerometerError)
self.accelerometer.setOnAccelerationChangeHandler(
self.accelerationChanged)
self.accelerometer.openPhidget(self.serial)
except PhidgetException, e:
rospy.logfatal("Phidget Exception %i: %s" % (e.code, e.message))
sys.exit(1)
class PhidgetsAccelerometer:
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()
def initialize(self):
try:
self.accelerometer.setOnAttachHandler(self.accelerometerAttached)
self.accelerometer.setOnDetachHandler(self.accelerometerDetached)
self.accelerometer.setOnErrorhandler(self.accelerometerError)
self.accelerometer.setOnAccelerationChangeHandler(self.accelerationChanged)
self.accelerometer.openPhidget(self.serial)
except PhidgetException, e:
rospy.logfatal("Phidget Exception %i: %s" % (e.code, e.message))
sys.exit(1)
def AccelerometerError(e):
print "Phidget Error %i: %s" % (e.eCode, e.description)
return 0
def AccelerometerAccelerationChanged(e):
print "Axis %i: %6f" % (e.index, e.acceleration)
return 0
#Main Program Code
try:
accelerometer.setOnAttachHandler(AccelerometerAttached)
accelerometer.setOnDetachHandler(AccelerometerDetached)
accelerometer.setOnErrorhandler(AccelerometerError)
accelerometer.setOnAccelerationChangeHandler(
AccelerometerAccelerationChanged)
except PhidgetException, e:
print "Phidget Exception %i: %s" % (e.code, e.message)
print "Exiting...."
exit(1)
print "Opening phidget object...."
try:
accelerometer.openPhidget()
except PhidgetException, e:
print "Phidget Exception %i: %s" % (e.code, e.message)
print "Exiting...."
exit(1)
print "Waiting for attach...."
return 0
def AccelerometerError(e):
print "Phidget Error %i: %s" % (e.eCode, e.description)
return 0
def AccelerometerAccelerationChanged(e):
print "Axis %i: %6f" % (e.index, e.acceleration)
return 0
#Main Program Code
try:
accelerometer.setOnAttachHandler(AccelerometerAttached)
accelerometer.setOnDetachHandler(AccelerometerDetached)
accelerometer.setOnErrorhandler(AccelerometerError)
accelerometer.setOnAccelerationChangeHandler(AccelerometerAccelerationChanged)
except PhidgetException, e:
print "Phidget Exception %i: %s" % (e.code, e.message)
print "Exiting...."
exit(1)
print "Opening phidget object...."
try:
accelerometer.openPhidget()
except PhidgetException, e:
print "Phidget Exception %i: %s" % (e.code, e.message)
print "Exiting...."
exit(1)
print "Waiting for attach...."
