X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fmove_base.py;h=5ece2683f6d0ad31cee0dd0cebfd9efdb95b26e2;hp=fbd265fb9c6001c75879da1d0cb406ab7d110f9a;hb=6bbe85b249210dd265f51cfde4288530d9bb05fb;hpb=ece97d94709b5e779ec2a48cf47319163a122bc5;ds=sidebyside

diff --git a/scripts/move_base.py b/scripts/move_base.py
index fbd265f..5ece268 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -19,14 +19,20 @@ class MoveBase:
 		self.run()
 	
 	def run(self):
-		rate = rospy.Rate(10.0)
+		rate = rospy.Rate(20.0)
 		while not rospy.is_shutdown():
+			self.get_pos()
 			#self.get_dist_forward()
 			#self.get_dist_backward()
 			#self.get_dist_left()
 			#self.get_dist_right()
 			rate.sleep()
 
+	def get_pos(self):
+		s = i2c_read_reg(0x50, 0x10, 8)
+		hall1, hall2, hall3, hall4 = struct.unpack(">hhhh", s)
+		print hall1, hall2, hall3, hall4
+
 	def set_speed(self, left, right):
 		if left > 0: left+=80
 		elif left < 0: left-=80
@@ -38,10 +44,7 @@ class MoveBase:
 		if right > 255: right=255
 		elif right < -255: right=-255
 
-		dev = i2c(0x50)
-		s = struct.pack(">Bhhhh", 0x1, right, right, left, left)
-		dev.write(s)
-		dev.close()
+		i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", right, right, left, left))
 
 	def cmdVelReceived(self, msg):
 		trans = msg.linear.x