Пример #1
0
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.
Пример #2
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
Пример #3
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
Пример #4
0
    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
Пример #5
0
    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