def switchLEDs(self, numLEDs):
lights = HeadLightState()
numLEDs = int(numLEDs)
lights.HeadLightInterval = 0
lights.LEDState0 = 1 if numLEDs > 0 else 0
lights.LEDState1 = 1 if numLEDs > 1 else 0
lights.LEDState2 = 1 if numLEDs > 2 else 0
lights.LEDState3 = 1 if numLEDs > 3 else 0
lights.LEDState4 = 1 if numLEDs > 3 else 0
lights.LEDState5 = 1 if numLEDs > 2 else 0
lights.LEDState6 = 1 if numLEDs > 1 else 0
lights.LEDState7 = 1 if numLEDs > 0 else 0
lights.LEDPhase0 = 1
lights.LEDPhase1 = 1
lights.LEDPhase2 = 1
lights.LEDPhase3 = 1
lights.LEDPhase4 = 1
lights.LEDPhase5 = 1
lights.LEDPhase6 = 1
lights.LEDPhase7 = 1
lights.LEDAmplitude0 = 1.0
lights.LEDAmplitude1 = 1.0
lights.LEDAmplitude2 = 1.0
lights.LEDAmplitude3 = 1.0
lights.LEDAmplitude4 = 1.0
lights.LEDAmplitude5 = 1.0
lights.LEDAmplitude6 = 1.0
lights.LEDAmplitude7 = 1.0
if not rospy.is_shutdown():
if self.last + self.rate < rospy.get_time():
self.pub.publish(lights)
self.last = rospy.get_time()
def switchLEDs(self, numLEDs):
lights = HeadLightState()
numLEDs = int(numLEDs)
lights.HeadLightInterval = 0
lights.LEDState0 = 1 if numLEDs > 0 else 0
lights.LEDState1 = 1 if numLEDs > 1 else 0
lights.LEDState2 = 1 if numLEDs > 2 else 0
lights.LEDState3 = 1 if numLEDs > 3 else 0
lights.LEDState4 = 1 if numLEDs > 3 else 0
lights.LEDState5 = 1 if numLEDs > 2 else 0
lights.LEDState6 = 1 if numLEDs > 1 else 0
lights.LEDState7 = 1 if numLEDs > 0 else 0
lights.LEDPhase0 = 1
lights.LEDPhase1 = 1
lights.LEDPhase2 = 1
lights.LEDPhase3 = 1
lights.LEDPhase4 = 1
lights.LEDPhase5 = 1
lights.LEDPhase6 = 1
lights.LEDPhase7 = 1
lights.LEDAmplitude0 = 1.0
lights.LEDAmplitude1 = 1.0
lights.LEDAmplitude2 = 1.0
lights.LEDAmplitude3 = 1.0
lights.LEDAmplitude4 = 1.0
lights.LEDAmplitude5 = 1.0
lights.LEDAmplitude6 = 1.0
lights.LEDAmplitude7 = 1.0
if not rospy.is_shutdown():
if self.last + self.rate < rospy.get_time():
self.pub.publish(lights)
self.last = rospy.get_time()
def spinningLEDs(self):
lights = HeadLightState()
lights.HeadLightInterval = 80
lights.LEDState0 = 3
lights.LEDState1 = 3
lights.LEDState2 = 3
lights.LEDState3 = 3
lights.LEDState4 = 3
lights.LEDState5 = 3
lights.LEDState6 = 3
lights.LEDState7 = 3
lights.LEDPhase0 = 10
lights.LEDPhase1 = 20
lights.LEDPhase2 = 30
lights.LEDPhase3 = 40
lights.LEDPhase4 = 50
lights.LEDPhase5 = 60
lights.LEDPhase6 = 70
lights.LEDPhase7 = 80
lights.LEDAmplitude0 = 1.0
lights.LEDAmplitude1 = 1.0
lights.LEDAmplitude2 = 1.0
lights.LEDAmplitude3 = 1.0
lights.LEDAmplitude4 = 1.0
lights.LEDAmplitude5 = 1.0
lights.LEDAmplitude6 = 1.0
lights.LEDAmplitude7 = 1.0
if not rospy.is_shutdown():
self.pub.publish(lights)
def spinningLEDs(self):
lights = HeadLightState()
lights.HeadLightInterval = 80
lights.LEDState0 = 3
lights.LEDState1 = 3
lights.LEDState2 = 3
lights.LEDState3 = 3
lights.LEDState4 = 3
lights.LEDState5 = 3
lights.LEDState6 = 3
lights.LEDState7 = 3
lights.LEDPhase0 = 10
lights.LEDPhase1 = 20
lights.LEDPhase2 = 30
lights.LEDPhase3 = 40
lights.LEDPhase4 = 50
lights.LEDPhase5 = 60
lights.LEDPhase6 = 70
lights.LEDPhase7 = 80
lights.LEDAmplitude0 = 1.0
lights.LEDAmplitude1 = 1.0
lights.LEDAmplitude2 = 1.0
lights.LEDAmplitude3 = 1.0
lights.LEDAmplitude4 = 1.0
lights.LEDAmplitude5 = 1.0
lights.LEDAmplitude6 = 1.0
lights.LEDAmplitude7 = 1.0
if not rospy.is_shutdown():
self.pub.publish(lights)