X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=dfa69b0c6e2a2d097c57d78cc23b2a7343527764;hp=f7b02f5b009626e9a6dc90544705ed9c1287fd08;hb=94f542d3b9d61a8d609b14bb45deef3d2a22e7da;hpb=5288ffaa49480c1a4d556a288fb4bc38bfb88d97

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index f7b02f5..dfa69b0 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -15,40 +15,10 @@ from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from dynamic_reconfigure.server import Server
 from sensor_msgs.msg import Imu, Range, BatteryState
-from wild_thumper.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
 
-class LPD8806:
-	def __init__(self, bus, device, num_leds):
-		self.spi = spidev.SpiDev()
-		self.spi.open(bus, device)
-		self.spi.mode=0b00
-		self.spi.max_speed_hz=int(2e6)
-		self.num_leds = num_leds
-		self.latch()
-		self.l = [(0, 0, 0)] * num_leds
-		self.update()
-	
-	def set(self, i, red=0, green=0, blue=0):
-		if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
-			raise Exception("Bad RGB Value")
-		self.l[i] = (red, green, blue)
-
-	def latch(self):
-		self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
-	
-	def update(self):
-		l = []
-		for i in range(self.num_leds):
-			red, green, blue = self.l[i]
-			l.append(0x80 | green)
-			l.append(0x80 | red)
-			l.append(0x80 | blue)
-		self.spi.writebytes(l)
-		self.latch()
-
 class WTBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper')
@@ -74,9 +44,7 @@ class WTBase:
 		self.volt_last_warn = rospy.Time.now()
 		rospy.loginfo("Init done")
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-		self.pStripe = LPD8806(1, 0, 16)
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		rospy.Subscriber("imu", Imu, self.imuReceived)
 		self.bDocked = False
 		self.bDocked_last = False
@@ -370,11 +338,6 @@ class WTBase:
 		if self.pub_range_fwd_right.get_num_connections() > 0:
 			self.start_dist_srf(0xb)
 	
-	def led_stripe_received(self, msg):
-		for led in msg.leds:
-			self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
-			self.pStripe.update()
-
 	def check_docked(self):
 		if self.bDocked and not self.bDocked_last:
 			rospy.loginfo("Docking event")