def setPS3LED(self): led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led0.intensity = 1. led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led1.intensity = 0. led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led2.intensity = 0. led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 led3.intensity = 0. rum0 = JoyFeedback() rum0.type = JoyFeedback.TYPE_RUMBLE rum0.id = 0 rum0.intensity = 0. rum1 = JoyFeedback() rum1.type = JoyFeedback.TYPE_RUMBLE rum1.id = 1 rum1.intensity = 0. feedback = JoyFeedbackArray() feedback.array = [led0,led1,led2,led3,rum0,rum1] self.ps3joy_pub.publish(feedback) rospy.loginfo("setPS3LED: "+str(feedback))
def set_feedback(value): msg_f, vib = JoyFeedbackArray(), JoyFeedback() # id = 0, 1, 2 type of vibration vib.type, vib.id, vib.intensity = JoyFeedback.TYPE_RUMBLE, 0, value msg_f.array = [vib] pub.publish(msg_f)
def cb_rum(self, event): if self.gripperL._state.force > 20 and self.rumFlag == True: rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 rum.intensity = 0.51 msg = JoyFeedbackArray() msg.array = [rum] self.pub.publish(msg) rospy.sleep(0.3) rum.intensity = 0.0 msg.array = [rum] self.pub.publish(msg) self.rumFlag = False if self.gripperL._state.force == 0: self.rumFlag = True
def talker(): pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray) rospy.init_node('ledControlTester', anonymous=True) led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 while not rospy.is_shutdown(): msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum] rum.intensity = 0.6 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) rum.intensity = 0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION)
def talker(): pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=1) rospy.init_node('ledControlTester', anonymous=True) led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 while not rospy.is_shutdown(): msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum] led0.intensity = 0.2 led3.intensity = 0.2 rum.intensity = 0.49 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 1.0 rum.intensity = 0.51 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 0.0 led1.intensity = 1.0 rum.intensity = 0.0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led1.intensity = 0.0 led2.intensity = 1.0 rum.intensity = 0.7 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led2.intensity = 0.0 led3.intensity = 1.0 rum.intensity = 0.49 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led1.intensity = 1.0 led2.intensity = 1.0 rum.intensity = 1.0 if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION) led0.intensity = 1.0 led1.intensity = 0.4 led2.intensity = 0.4 msg.array = [led0, led1, led2] if msg is not None: rospy.logdebug("Msg: " + str(msg)) pub.publish(msg) rospy.sleep(INTER_PATTERN_SLEEP_DURATION)
led0 = JoyFeedback() led0.type = JoyFeedback.TYPE_LED led0.id = 0 led1 = JoyFeedback() led1.type = JoyFeedback.TYPE_LED led1.id = 1 led2 = JoyFeedback() led2.type = JoyFeedback.TYPE_LED led2.id = 2 led3 = JoyFeedback() led3.type = JoyFeedback.TYPE_LED led3.id = 3 rum = JoyFeedback() rum.type = JoyFeedback.TYPE_RUMBLE rum.id = 0 msg = JoyFeedbackArray() msg.array = [led0, led1, led2, led3, rum] led0.intensity=1 led1.intensity=1 if __name__ == '__main__': try: rospy.spin() except KeyboardInterrupt: ser.close() sys.exit()