def SendInputPoints(self):
pattern = MsgPattern()
pattern.mode = 'bypoints'
pattern.shape = 'constant'
pattern.frame_id = 'Plate'
pattern.hzPattern = 1.0
pattern.hzPoint = 100.0
pattern.count = 1
pattern.points = self.pointsInput
pattern.radius = 20.0
pattern.preempt = False
command = MsgGalvoCommand()
command.frameid_target_list = ['Plate',]
command.pattern_list = [pattern,]
command.units = 'volts' #'millimeters' # 'volts' #
self.pubGalvoCommand.publish(command)
def TrackFly1(self):
pattern = MsgPattern()
pattern.mode = 'byshape'
pattern.shape = 'grid'
pattern.frame_id = 'Fly1'
pattern.hzPattern = 40.0
pattern.hzPoint = 1000.0
pattern.count = 1
pattern.points = []
pattern.radius = 5
pattern.preempt = False
command = MsgGalvoCommand()
command.frameid_target_list = ['Plate',]
command.pattern_list = [pattern,]
command.units = 'millimeters' # 'millimeters' or 'volts'
self.pubGalvoCommand.publish(command)
