+ def set_motor_handicap(self, front, aft): # percent
+ 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 = (100.0/65)*abs(pitch)*180/pi
+ self.set_motor_handicap(0, int(val))
+ elif pitch < -30*pi/180:
+ val = (100.0/65)*abs(pitch)*180/pi
+ self.set_motor_handicap(int(val), 0)
+ else:
+ self.set_motor_handicap(0, 0)
+