class Ctrl(): def __init__(self, topic="tmobile"): self.sub = rospy.Subscriber(topic, direction, self.callback, None, 1) print 'start subscribing to topic', topic try: print 'initialize platform node' rospy.init_node("platform", anonymous=False) except rospy.ROSException, e: pass # Robotis servo self.tilt = rs.robotis_servo('/dev/robot/servo0', 5, baudrate=57600) self.pan = rs.robotis_servo('/dev/robot/servo0', 25, baudrate=57600) # self.tilt = rs.robotis_servo('/dev/robot/servo0', 26, baudrate=57600) self.angle1 = 0 self.angle2 = 0 self.reset = 0 # Zenither self.z = zenither.Zenither(robot='HRL2') self.z_dir = 0 self.init_height = 1. #initial zenither height = 1m # Segway Omni self.mec = segway.Mecanum(init_ros_node=False) self.xvel = 0. self.yvel = 0. self.avel = 0. self.lock = 0.
def __init__(self, dev_name, pan_id, tilt_id, baudrate=57600, pan_speed = math.radians(180), tilt_speed = math.radians(180)): self.pan_servo = rs.robotis_servo(dev_name,pan_id,baudrate, max_speed = pan_speed) self.tilt_servo = rs.robotis_servo(dev_name,tilt_id,baudrate, max_speed = tilt_speed) self.max_pan = self.pan_servo.max_ang self.min_pan = self.pan_servo.min_ang self.max_tilt = self.tilt_servo.max_ang self.min_tilt = self.tilt_servo.min_ang
def __init__(self, dev_name, pan_id, tilt_id, baudrate=57600, pan_speed=math.radians(180), tilt_speed=math.radians(180)): self.pan_servo = rs.robotis_servo(dev_name, pan_id, baudrate, max_speed=pan_speed) self.tilt_servo = rs.robotis_servo(dev_name, tilt_id, baudrate, max_speed=tilt_speed) self.max_pan = self.pan_servo.max_ang self.min_pan = self.pan_servo.min_ang self.max_tilt = self.tilt_servo.max_ang self.min_tilt = self.tilt_servo.min_ang
def __init__(self, dev_name, servo_id, hokuyo, baudrate=57600, l1=0.,l2=0.035, camera_name=None): ''' dev_name - name of serial device of the servo controller (e.g. '/dev/robot/servo0') servo_id - 2,3,4 ... (2 to 253) hokuyo - Hokuyo object. baudrate - for the servo controller. camera_name - name of the ''' self.servo = rs.robotis_servo(dev_name,servo_id,baudrate) self.hokuyo = hokuyo self.l1 = l1 self.l2 = l2
def __init__(self, dev_name, servo_id, hokuyo, baudrate=57600, l1=0., l2=0.035, camera_name=None): ''' dev_name - name of serial device of the servo controller (e.g. '/dev/robot/servo0') servo_id - 2,3,4 ... (2 to 253) hokuyo - Hokuyo object. baudrate - for the servo controller. camera_name - name of the ''' self.servo = rs.robotis_servo(dev_name, servo_id, baudrate) self.hokuyo = hokuyo self.l1 = l1 self.l2 = l2