def Main(self):
msgPattern = MsgPattern()
# Publish a goto(0,0) pattern message, and wait for the end effector to initialize.
msgPattern.mode = 'byshape'
msgPattern.shape = 'constant'
msgPattern.points = []
msgPattern.frame = 'Stage'
msgPattern.hzPattern = 1.0
msgPattern.hzPoint = rospy.get_param('actuator/hzPoint', 100.0)
msgPattern.count = 1
msgPattern.radius = 0.0
msgPattern.preempt = True
self.pubPatternGen.publish (msgPattern)
while not self.initialized_endeffector:
rospy.sleep(0.5)
rospy.sleep(2)
self.initialized = True
# Publish the spiral pattern message.
msgPattern.mode = 'byshape'
msgPattern.shape = rospy.get_param('calibration/shape', 'spiral')
msgPattern.points = []
msgPattern.frame = 'Stage'
msgPattern.count = -1
msgPattern.radius = 0.8 * rospy.get_param('arena/radius_inner', 25.4)
msgPattern.preempt = True
if msgPattern.shape=='spiral':
msgPattern.hzPattern = 0.01
else:
msgPattern.hzPattern = 0.1
self.pubPatternGen.publish (msgPattern)
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
# Publish a goto(0,0) pattern message.
msgPattern.mode = 'byshape'
msgPattern.shape = 'constant'
msgPattern.points = []
msgPattern.frame = 'Stage'
msgPattern.hz = 1.0
msgPattern.count = 1
msgPattern.radius = 0.0
msgPattern.preempt = True
self.pubPatternGen.publish (msgPattern)
def OnShutdown_callback(self):
if self.initialized:
msgPattern = MsgPattern()
msgPattern.mode = 'byshape'
msgPattern.shape = 'constant'
msgPattern.points = []
msgPattern.frame = 'Stage'
msgPattern.hzPattern = 1.0
msgPattern.hzPoint = 100
msgPattern.count = 1
msgPattern.radius = 0.0
msgPattern.preempt = True
self.pubPatternGen.publish (msgPattern)
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)
