added 3dsensor

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6c066f391f9b50a70c24f2a77a8ac335894f263b..0beaf2668801f27a7a66a1a0a54a755b755646bd 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -24,6 +24,7 @@ class MoveBase:
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+               self.handicap_last = (-1, -1)
                self.run()
        
        def run(self):
@@ -42,18 +43,18 @@ class MoveBase:
                        rate.sleep()
 
        def set_motor_handicap(self, front, aft): # percent
-               i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+               if self.handicap_last != (front, aft):
+                       i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+                       self.handicap_last = (front, aft)
 
        def imuReceived(self, msg):
                (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
                if pitch > 30*pi/180:
-                       val = (100/90)*abs(pitch)*180/pi
-                       print "aft handicap", val
-                       self.set_motor_handicap(0, val)
+                       val = (100.0/65)*abs(pitch)*180/pi
+                       self.set_motor_handicap(0, int(val))
                elif pitch < -30*pi/180:
-                       val = (100/90)*abs(pitch)*180/pi
-                       print "front handicap", val
-                       self.set_motor_handicap(val, 0)
+                       val = (100.0/65)*abs(pitch)*180/pi
+                       self.set_motor_handicap(int(val), 0)
                else:
                        self.set_motor_handicap(0, 0)