def get_pot_angle (lr='l'):
"""
Get angle of gripper from potentiometer.
"""
global pot_initialized, arduino
if not pot_initialized:
arduino = read_arduino.get_arduino()
pot_initialized = True
print "POT INITIALIZED"
if lr == 'l':
pot_reading = arduino.get_reading(1)
else:
pot_reading = arduino.get_reading(2)
return pot_param1[lr]*pot_reading + pot_param2[lr]
def done():
global finished
finished = True
read_arduino.get_arduino().done()
