wt_node: Transision from 4x TLE5205 to 2x VNH2SP30

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 612d5e3663340e1ad6b916ad97db4242d80c019e..7fdf0444aead981ff55cedb43609cc122f75e001 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -64,16 +64,15 @@ class MoveBase:
                self.cmd_vel = None
                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.pStripe = LPD8806(1, 0, 12)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-               rospy.Subscriber("imu", Imu, self.imuReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                self.run()
        
        def run(self):
                rate = rospy.Rate(20.0)
+               sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
                i = 0
@@ -94,24 +93,6 @@ class MoveBase:
                                self.cmd_vel = None
                        rate.sleep()
 
-       def set_motor_handicap(self, front, aft): # percent
-               if front > 100: front = 100
-               if aft > 100: aft = 100
-               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 = (100.0/60)*abs(pitch)*180/pi
-                       self.set_motor_handicap(int(val), 0)
-               elif pitch < -30*pi/180:
-                       val = (100.0/60)*abs(pitch)*180/pi
-                       self.set_motor_handicap(0, int(val))
-               else:
-                       self.set_motor_handicap(0, 0)
-
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]