def __init__(self): redisHandler.__init__(self) self.url = 'http://117.184.129.18:8000/planning/query/?key=' self.sub_topics = ['rtk_out', 'tracking_in'] self.pub_topics = ['tracking_out'] self.config = config('para_track.yaml') self.start_sub()
def __init__(self): redisHandler.__init__(self) self.url = 'http://117.184.129.18:8000/planning/query/?key=' self.sub_topics = ['rtk_out', 'tracking_in'] self.pub_topics = ['ctrl_in'] # 配置参数 self.config = Config() self.config.robot_type = robot_type # 目标点误差 self.delta_goal = 0.40 # 任务目标kdtree self.goal_kdtree = None # 障碍物kdtree self.ob_kdtree = None # to movebase通信格式 self.max_speed = 80 self.data_speed = { 'header':'speed', 'data':{ 'y': 1, 'angle': 0, 'speed': self.max_speed } } self.start_sub()
def __init__(self): redisHandler.__init__(self) self.sub_topics = ['tracking_in'] self.pub_topics = ['ctrl_in'] self.start_sub()
def __init__(self): redisHandler.__init__(self) self.url = 'http://117.184.129.18:8000/planning/query/?key=' self.sub_topics = ['rtk_out', 'tracking_in'] self.pub_topics = ['ctrl_in'] self.config = config('para_cmd.yaml') # 上一次命令内容 self.last_dict_cmd = [] self.last_list_cmd = [] # 任务目标kdtree self.kdtree = None # 任务列表 self.cmd_list=[] # 目标点误差, list型 self.delta = 0.3 self.delta_goal_list = 1.4 # dict类型数据目标点误差 self.delta_goal = 0.4 # 发布至ctrl cmd的格式 self.data_cmd = { 'header':'cmd', 'data': '' } # 任务运行记录格式 self.data_config = { 'key':'none', 'cmd':[] } # 任务记录的字典key值 self.para_mission_key = 'mission' if not self.para_mission_key in self.config.config: self.config.set_para(self.para_mission_key, self.data_config) self.start_sub()
def __init__(self): motor.__init__(self) ray.__init__(self) self.tx = 0 self.ty = 0 redisHandler.__init__(self) self.pub_topics = ['radar_out'] self.sub_topics = []
def __init__(self): # 心跳时间 self.timeout = 30 self.conf = config() self.name = self.conf.robot['name'] self.key = self.conf.robot['key'] # 从主函数端接收消息的q self.recv_q = queue.Queue(5) self.address = ('117.184.129.18', 9000) self.robot_on() redisHandler.__init__(self)
def __init__(self): redisHandler.__init__(self) self.url = 'http://117.184.129.18:8000/planning/query/?key=' self.sub_topics = ['tracking_in'] self.pub_topics = ['rtk_out'] self.__position = { 'p': [-51.005, 164.012], 'angle': 4.8, 'precision': 0.0, # 'angle_precision':0.0, 'rtcm': '', 'rtk_mod': 4 } self.start_sub()
def __init__(self): redisHandler.__init__(self) self.sub_topics = ['track_cmd_in'] self.pub_topics = ['ctrl_in'] # 电机工作角度 self.mission_angle = 150385 # 位移传感器工作长度mm self.mission_length = 125 self.motor = Motor(1, '/dev/ttyS5') self.motor_init() self.sensor = sensorLinear(3, '/dev/ttyS5') self.start_sub()
def __init__(self, port=None): # 超声波模块信息类 if not port: self.port = '/dev/ttyS5' else: self.port = port # 数据读取频率 self.hz = 0.8 # 遇障碍物停止的最小距离 self.min_dist = 500 self.ser = serial.Serial(self.port, 9600, timeout=0.5, write_timeout=0.5) # 获取四个探头数据的命令 self.send_cmd = [0x55, 0xAA, 0x01, 0x01, 0x01, 0x01] # 信息头 self.head = [0x55, 0xAA, 0x01, 0x01] # 信息头之和 self.sum_head = 0 for i in self.head: self.sum_head += i # redis redisHandler.__init__(self)