def __init__(self, **kwargs):
# connect to joystick (it must be paired with the computer via bluetooth)
Controller.__init__(self, **kwargs)
# initialize the node named joystick
rospy.init_node('joystick', anonymous=True)
# initialize a publisher to send messages to a topic named pos_commands
self.pub = rospy.Publisher("pos_commands",
Float64MultiArray,
queue_size=10)
# initialize a publisher to send messages to a topic named image_rot
self.pub_rot_angle = rospy.Publisher("image_rot",
Float64MultiArray,
queue_size=10)
self.rate = rospy.Rate(30) # 30hz
self.R3_up_down, self.L3_up_down, self.L3_left_right, self.reset, self.reset_shaft, self.enable, self.home = 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
self.rot_angle = 0.0
self.joints = Float64MultiArray()
self.joints.data = [
self.R3_up_down, self.L3_up_down, self.L3_left_right, self.reset,
self.reset_shaft, self.enable, self.home
]
self.pub.publish(self.joints)
self.angle = Float64MultiArray()
self.angle.data = [self.rot_angle]
self.pub.publish(self.angle)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.bearingl = 0
self.bearingr = 0
self.maxStick = 32767
self.limitMax = 88
self.limitMin = 50
def __init__(self, **kwargs): rospy.init_node(node_name) self.pub = rospy.Publisher(topic_name, String, queue_size=1) self.last_cmd = 1 self.recv_cmd = String() rotate_by_degree(20, wheels, 0) rotate_by_degree(-40, wheels, 0) rotate_by_degree(20, wheels, 0) Controller.__init__(self, **kwargs)
def __init__(self, vehicle: Drone, **kwargs):
Controller.__init__(self, **kwargs)
self.drone = vehicle # initialized drone
self.is_hook_open = True
self.is_core_open = True
self.forward = 0.0 # forward is positive, backwards is negative
self.sideways = 0.0 # going right is positive, left is negative
self.rise = 0.0 # positive is up, negative down
self.tilt = 0.0 # tilting right positive, tilting left is negative
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.L3X = 0
self.L3Y = 0
self.R3X = 0
self.R3Y = 0
self.leftMotorPWM = 0
self.rightMotorPWM = 0
self.arrow = "None"
self.motor = Motor()
self.servo = Servo()
self.motor.InitMotorHw()
self.servo.InitServoHw()
self.BASESTEPSIZE = 5
def __init__(self, **kwargs):
# print(rospy.get_namespace())
Controller.__init__(self, **kwargs)
self.heading = 0.0
self.depth = 0.0
self.speed = 0.3
self.dive_depth = 0.3
rospy.wait_for_service('uuv_control/arm_control')
arm_control = rospy.ServiceProxy('uuv_control/arm_control', ArmControl)
resp1 = arm_control()
# print(2)
rospy.wait_for_service('uuv_control/set_heading_velocity')
self.shv = rospy.ServiceProxy('uuv_control/set_heading_velocity',
SetHeadingVelocity)
# print(3)
rospy.wait_for_service('uuv_control/set_heading_depth')
self.shd = rospy.ServiceProxy('uuv_control/set_heading_depth',
SetHeadingDepth)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.speed = 20
def __init__(self):
Controller.__init__(self,interface="/dev/input/js0", connecting_using_ds4drv=False)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.leftX = 0
self.leftY = 0
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.Our_car_throttle = 0.0
self.Our_car_brake = 0.0
self.Our_car_steering = 0.0
self.modus_taste = 0
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.myVal = 5
def __init__(self, pult: ServerMainPult):
Controller.__init__(self,
interface="/dev/input/js0",
connecting_using_ds4drv=False)
self.pult = pult
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.motor_left = 0
self.motor_right = 0
self.l2_active = False
self.r2_active = True
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.car = Autocar()
self.axis_data = {0:0.0,1:0.0} #default
self.train = True
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.logger_controller = logging.getLogger(self.interface)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.arduino = ArduinoCommunicator()