def put_pixels(self, pixels):
""" set the LEDs to the values in pixels.
:param pixels: an array of 3-ary tuples
"""
self._last_pixels = pixels
chest_msg = ChestLeds()
for i in range(min(len(pixels), ChestLightClient.NUM_LEDS)):
chest_msg.leds[i] = Led(pixels[i][0], pixels[i][1], pixels[i][2])
self._light_pub.publish(msg)
def run():
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
rospy.init_node('kuri_light')
rate = rospy.Rate(100)
l = ChestLeds()
print("Light Program Started")
for i in range(len(l.leds)):
l.leds[i].red = 255
l.leds[i].green = 255
l.leds[i].blue = 255
button_delay = 0.2
while not rospy.is_shutdown():
try:
letter = getch()
if (letter == "r"):
print("___you pressed red")
for i in range(len(l.leds)):
l.leds[i].red = 255
l.leds[i].green = 0
l.leds[i].blue = 0
#print( l.leds[i])
time.sleep(button_delay)
if (letter == "g"):
print("___you pressed green___")
for i in range(len(l.leds)):
l.leds[i].red = 0
l.leds[i].green = 255
l.leds[i].blue = 0
#print( l.leds[i])
time.sleep(button_delay)
if (letter == "b"):
print("___you pressed blue___")
for i in range(len(l.leds)):
l.leds[i].red = 0
l.leds[i].green = 0
l.leds[i].blue = 255
#print( l.leds[i])
time.sleep(button_delay)
if (letter == "q"):
rainbow(.3, .3, .3, 0, 2, 4)
if (letter == "c"):
print("Teleop ended.")
exit(0)
pub.publish(l)
rate.sleep()
except:
pass
def light_up(r, g, b):
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
l = ChestLeds()
for i in range(len(l.leds)):
l.leds[i].red = r
l.leds[i].green = g
l.leds[i].blue = b
pub.publish(l)
def white():
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
l = ChestLeds()
for i in range(len(l.leds)):
l.leds[i].red = 255
l.leds[i].green = 255
l.leds[i].blue = 255
pub.publish(l)
def put_pixels(self, pixels):
""" set the LEDs to the values in pixels.
:param pixels: an array of 3-ary tuples
"""
self._last_pixels = pixels
msg = ChestLeds()
for i in range(15):
msg.leds[i].red = pixels[i][0]
msg.leds[i].green = pixels[i][1]
msg.leds[i].blue = pixels[i][2]
seconds = rospy.get_time()
while rospy.get_time() - seconds < 1:
self._light_pub.publish(msg)
def lights():
pub = rospy.Publisher('/denise/mobile_base/commands/chest_leds', ChestLeds, queue_size=10)
rospy.init_node('lights', anonymous=False)
light = ChestLeds()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
for i in range(len(light.leds)):
light.leds[i].red = 255
light.leds[i].green = 0
light.leds[i].blue = 0
rospy.loginfo(light)
pub.publish(light)
rate.sleep()
def all_leds(self, color):
# TODO: Turn all LEDS to `color`
msg = ChestLeds()
for i in range(15):
msg.leds[i].red = color[0]
msg.leds[i].green = color[1]
msg.leds[i].blue = color[2]
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
seconds = rospy.get_time()
while rospy.get_time() - seconds < 0.1:
pub.publish(msg)
pass
def put_pixels(self, pixels):
""" set the LEDs to the values in pixels.
:param pixels: an array of 3-ary tuples
"""
self._last_pixels = list(pixels)
msg = ChestLeds()
for x in range(15):
msg.leds[x].red = int(self._last_pixels[x][0])
msg.leds[x].green = int(self._last_pixels[x][1])
msg.leds[x].blue = int(self._last_pixels[x][2])
start_time = rospy.Time.now()
while rospy.Time.now() - start_time < rospy.Duration(0.25):
self._light_pub.publish(msg)
def rainbow(frequency1, frequency2, frequency3, phase1, phase2, phase3):
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
rospy.init_node('kuri_light')
rate = rospy.Rate(100)
l = ChestLeds()
print("kuri rainbow working")
center = 128
width = 127
length = 50
for i in range(length):
for p in range(len(l.leds)):
l.leds[p].red = math.sin(frequency1 * i + phase1) * width + center
l.leds[p].green = math.sin(frequency2 * i +
phase2) * width + center
l.leds[p].blue = math.sin(frequency3 * i + phase3) * width + center
pub.publish(l)
time.sleep(0.1)
def rainbow(frequency1, frequency2, frequency3, phase1, phase2, phase3):
pub = rospy.Publisher('/mobile_base/commands/chest_leds',
ChestLeds,
queue_size=10)
l = ChestLeds()
global rainbowShouldBeRunning
center = 128
width = 127
length = 50
print("potato3")
for i in range(length):
if (not rainbowShouldBeRunning):
print("Stopping rainbow")
break
for p in range(len(l.leds)):
l.leds[p].red = math.sin(frequency1 * i + phase1) * width + center
l.leds[p].green = math.sin(frequency2 * i +
phase2) * width + center
l.leds[p].blue = math.sin(frequency3 * i + phase3) * width + center
pub.publish(l)
time.sleep(0.1)
rainbowShouldBeRunning = False