yikestone/ros_arduino_bridge
1
0
Fork 0
mirror of https://github.com/YikeStone/ros_arduino_bridge.git synced 2025-08-03 19:24:09 +05:30
Code Issues Projects Releases Wiki Activity

Removed print statement from update_pid() function

Browse Source
This commit is contained in:
Patrick Goebel 2016-04-12 06:28:00 -07:00
parent 79e5a3b1a8
commit 17d6a44e3e
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
View File

@ -129,7 +129,6 @@ class Arduino:
def update_pid(self, Kp, Kd, Ki, Ko):
''' Set the PID parameters on the Arduino
'''
print "Updating PID parameters"
cmd = 'u ' + str(Kp) + ':' + str(Kd) + ':' + str(Ki) + ':' + str(Ko)
self.execute_ack(cmd)
@ -158,11 +157,11 @@ class Arduino:
'''
IMU data is assumed to be returned in the following order:
[ax, ay, az, gx, gy, gz, mx, my, mz, roll, pitch, uh]
[ax, ay, az, gx, gy, gz, mx, my, mz, roll, pitch, ch]
where a stands for accelerometer, g for gyroscope and m for magnetometer.
The last value uh stands for "unified heading" that some IMU's compute
from both gyroscope and compass data.
The last value ch stands for "compensated heading" that some IMU's can
compute to compensate magnetic heading from the current roll and pitch.
'''
values = self.execute_array('i')