def build_msg(self, angle): msg = MotorCommand() msg.joint_name = self.args["name"] msg.position = angle # IF speed and acceleration is more than 1 default motor speed will be used msg.speed = 2 msg.acceleration = 2 return msg
def build_msg(self, angle):
msg = MotorCommand()
msg.joint_name = self.args["name"]
msg.position = angle
# IF speed and acceleration is more than 1 default motor speed will be used
msg.speed = 2
msg.acceleration = 2
return msg
def msg_angle(self, angle=None):
"""Builds a message given the target angle."""
msg = MotorCommand()
msg.joint_name = self.motor_entry['name']+"@"+self.motor_entry['topic']
msg.position = self._saturatedAngle(angle or self.target)
# Default values are set here, if speed or acceleration are not found in
# the motor entry.
if 'speed' in self.motor_entry.keys():
msg.speed = self.motor_entry['speed'] / 10.0
else:
msg.speed = 2
if 'acceleration' in self.motor_entry.keys():
msg.acceleration = self.motor_entry['acceleration'] / 2.0
else:
msg.acceleration = 2
return msg
def msg_angle(self, angle=None):
"""Builds a message given the target angle."""
msg = MotorCommand()
msg.joint_name = self.motor_entry['name']+"@"+self.motor_entry['topic']
msg.position = self._saturatedAngle(angle or self.target)
# Default values are set here, if speed or acceleration are not found in
# the motor entry.
if 'speed' in self.motor_entry.keys():
msg.speed = self.motor_entry['speed'] / 10.0
else:
msg.speed = 2
if 'acceleration' in self.motor_entry.keys():
msg.acceleration = self.motor_entry['acceleration'] / 2.0
else:
msg.acceleration = 2
return msg
