def move_pan_tilt(self):
if self.guardian:
if self.pan != 0 or self.tilt != 0:
self.pan = 0
self.tilt = 0
pan_move = Pan_tilt_mess()
pan_move.pan = 0
pan_move.tilt = 0
pan_move.reset = 1
self.pub_pan_tilt.publish(pan_move)
else:
pan_move = Pan_tilt_mess()
pan_move.pan = self.pan
pan_move.tilt = self.tilt
pan_move.reset = 0
self.pub_pan_tilt.publish(pan_move)
def panTilt_Handle(self,pan,tilt):
global ang_pan
global ang_tilt
#pantilt = Pantilt('/dev/ttyUSB2',9600) #Change port and baudrate
#pantilt.open()
#pantilt.set_angle(pan,tilt) #pan,tilt
time.sleep(3)
punto = Pan_tilt_mess()
punto.pan = pan
punto.tilt = tilt
ang_pan = pan
ang_tilt = tilt
self.__sub_pan_tilt.publish(punto)