From 54a59e74352041bdda72f2eea2cab24683f0e16a Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Mon, 5 Jun 2017 09:25:31 +0200 Subject: [PATCH] Update srf sensors closer to readout --- scripts/wt_node.py | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 5215d49..1549ea6 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -100,12 +100,15 @@ class MoveBase: if sonar_count == 0: self.get_dist_forward_left() + self.update_dist_backward() sonar_count+=1 elif sonar_count == 1: self.get_dist_backward() + self.update_dist_forward_right() sonar_count+=1 elif sonar_count == 2: self.get_dist_forward_right() + self.update_dist_forward_left() sonar_count=0 if self.cmd_vel != None: @@ -313,19 +316,28 @@ class MoveBase: if self.pub_range_fwd_left.get_num_connections() > 0: dist = self.read_dist_srf(0x15) self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) - self.start_dist_srf(0x5) # get next value + + def update_dist_forward_left(self): + if self.pub_range_fwd_left.get_num_connections() > 0: + self.start_dist_srf(0x5) def get_dist_backward(self): if self.pub_range_bwd.get_num_connections() > 0: dist = self.read_dist_srf(0x17) self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) - self.start_dist_srf(0x7) # get next value + + def update_dist_backward(self): + if self.pub_range_bwd.get_num_connections() > 0: + self.start_dist_srf(0x7) def get_dist_forward_right(self): if self.pub_range_fwd_right.get_num_connections() > 0: dist = self.read_dist_srf(0x19) self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) - self.start_dist_srf(0xb) # get next value + + def update_dist_forward_right(self): + 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: -- 2.39.2