def set_Pgain_for_angular_velocity(self, val): global new_PID_gains_angular_velocity # print "slider now at", val val = int(val) new_PID_gains_angular_velocity = list(new_PID_gains_angular_velocity) new_PID_gains_angular_velocity[0] = val new_PID_gains = PID_gains() self.publish_new_gains()
def set_Dgain_for_posture(self, val): global new_PID_gains_posture # print "slider now at", val val = int(val) new_PID_gains_posture = list(new_PID_gains_posture) new_PID_gains_posture[2] = val new_PID_gains = PID_gains() self.publish_new_gains()
def publish_new_gains(self): new_PID_gains = PID_gains() for i in range(3): new_PID_gains.pid_gains_for_posture.append( new_PID_gains_posture[i]) new_PID_gains.pid_gains_for_linear_velocity.append( new_PID_gains_linear_velocity[i]) new_PID_gains.pid_gains_for_angular_velocity.append( new_PID_gains_angular_velocity[i]) pub_new_gains.publish(new_PID_gains) del new_PID_gains
def publish_current_gains(): global PID_GAIN_POSTURE, PID_GAIN_LINEAR_VELOCITY, PID_GAIN_ANGULAR_VELOCITY current_PID_gains = PID_gains() for i in range(3): current_PID_gains.pid_gains_for_posture.append(PID_GAIN_POSTURE[i]) current_PID_gains.pid_gains_for_linear_velocity.append( PID_GAIN_LINEAR_VELOCITY[i]) current_PID_gains.pid_gains_for_angular_velocity.append( PID_GAIN_ANGULAR_VELOCITY[i]) pub_current_gains.publish(current_PID_gains) del current_PID_gains