yikestone/ros_arduino_bridge
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Reverted units back to degrees for raw servo commands

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This commit is contained in:
Patrick Goebel 2016-01-09 08:25:36 -08:00
parent 2c71342827
commit fb24de4223
1 changed files with 11 additions and 8 deletions
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19
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -65,7 +65,7 @@ class Arduino:
# Needed for Leonardo only
while not self.port:
time.sleep(0.5)
time.sleep(self.timeout)
# Now open the port with the real settings
self.serial_port = serial.Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout)
@ -73,7 +73,7 @@ class Arduino:
# Test the connection by reading the baudrate
test = self.get_baud()
if test != self.baudrate:
time.sleep(0.5)
time.sleep(self.timeout)
test = self.get_baud()
if test != self.baudrate:
raise SerialException
@ -300,6 +300,9 @@ class Arduino:
''' Stop both motors.
'''
self.drive(0, 0)
def analog_pin_mode(self, pin, mode):
return self.execute_ack('c A%d %d' %(pin, mode))
def analog_read(self, pin):
return self.execute('a %d' %pin)
@ -313,24 +316,24 @@ class Arduino:
def digital_write(self, pin, value):
return self.execute_ack('w %d %d' %(pin, value))
def pin_mode(self, pin, mode):
def digital_pin_mode(self, pin, mode):
return self.execute_ack('c %d %d' %(pin, mode))
def config_servo(self, pin, step_delay):
''' Configure a PWM servo '''
return self.execute_ack('j %d %d' %(pin, step_delay))
return self.execute_ack('j %d %u' %(pin, step_delay))
def servo_write(self, id, pos):
''' Usage: servo_write(id, pos)
Position is given in radians and converted to degrees before sending
Position is given in degrees from 0-180
'''
return self.execute_ack('s %d %d' %(id, degrees(pos)))
return self.execute_ack('s %d %d' %(id, pos))
def servo_read(self, id):
''' Usage: servo_read(id)
The returned position is converted from degrees to radians
The returned position is in degrees
'''
return radians(self.execute('t %d' %id))
return int(self.execute('t %d' %id))
def set_servo_delay(self, id, delay):
''' Usage: set_servo_delay(id, delay)