move_base: updated to new speed control, added odom code

[ros_wild_thumper.git] / scripts / test_speed.py

diff --git a/scripts/test_speed.py b/scripts/test_speed.py
deleted file mode 100755 (executable)
index 022112e..0000000
--- a/scripts/test_speed.py
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: iso-8859-15 -*-
-
-import struct
-from i2c import *
-from datetime import datetime
-from time import sleep
-
-def get_pos():
-       s = i2c_read_reg(0x50, 0x10, 8)
-       hall1, hall2, hall3, hall4 = struct.unpack(">hhhh", s)
-       return hall1, hall2, hall3, hall4
-
-if __name__ == "__main__":
-       i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-       speed = 255
-       i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", speed, speed, speed, speed))
-       start = datetime.now()
-       for i in range(100):
-               diff = datetime.now() - start
-               status = get_pos()
-               print "%d.%03d: %d %d %d %d" % ((diff.seconds, diff.microseconds/1000) + status)
-               sleep(0.01)
-       speed = 0
-       i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", speed, speed, speed, speed))