car.py File Reference

Go to the source code of this file.

Classes
class	car.CRobotSync

Namespaces
	car

Functions
def	car.shutdown ()
def	car.thread_robot1 (robot_id, robot_model)
def	car.thread_robot2 (robot_id, robot_model)
def	car.thread_robot3 (robot_id, robot_model)
def	car.thread_robot4 (robot_id, robot_model)
def	car.thread_robot5 (robot_id, robot_model)
def	car.thread_robot6 (robot_id, robot_model)

Variables
list	car.acc_spi = [150, 150]
list	car.accx = [0, 0]
list	car.amp = [0, 0, 0, 30, 30, 0]
	car.daemon
	car.dont_write_bytecode
list	car.dREL1 = [0, 0, 350, 0, 0, 0]
list	car.dREL2 = [0, 0, -350, 0, 0, 0]
	car.J0 = posj(0, 0, 0, 0, 0, 0)
list	car.J00 = [-180, 0, -145, 0, -35, 0]
list	car.J01r = [-180.0, 71.4, -145.0, 0.0, -9.7, 0.0]
list	car.J02r = [-180.0, 67.7, -144.0, 0.0, 76.3, 0.0]
list	car.J03r = [-180.0, 0.0, 0.0, 0.0, 0.0, 0.0]
list	car.J04r = [-90.0, 0.0, 0.0, 0.0, 0.0, 0.0]
list	car.J04r1 = [-90.0, 30.0, -60.0, 0.0, 30.0, -0.0]
list	car.J04r2 = [-90.0, -45.0, 90.0, 0.0, -45.0, -0.0]
list	car.J04r3 = [-90.0, 60.0, -120.0, 0.0, 60.0, -0.0]
list	car.J04r4 = [-90.0, 0.0, -0.0, 0.0, 0.0, -0.0]
list	car.J05r = [-144.0, -4.0, -84.8, -90.9, 54.0, -1.1]
list	car.J07r = [-152.4, 12.4, -78.6, 18.7, -68.3, -37.7]
list	car.J08r = [-90.0, 30.0, -120.0, -90.0, -90.0, 0.0]
	car.J1 = posj(0, 0, 0, 30, 30, 0)
list	car.JEnd = [0.0, -12.6, 101.1, 0.0, 91.5, -0.0]
list	car.JReady = [0, -20, 110, 0, 60, 0]
int	car.NUM_ROBOT = 4
list	car.period = [0, 0, 0, 3, 6, 0]
	car.pub_stop_r1 = rospy.Publisher('/'+ robot_id1 + robot_model1 +'/stop', RobotStop, queue_size=10)
	car.pub_stop_r2 = rospy.Publisher('/'+ robot_id2 + robot_model2 +'/stop', RobotStop, queue_size=10)
	car.pub_stop_r3 = rospy.Publisher('/'+ robot_id3 + robot_model1 +'/stop', RobotStop, queue_size=10)
	car.pub_stop_r4 = rospy.Publisher('/'+ robot_id4 + robot_model2 +'/stop', RobotStop, queue_size=10)
	car.pub_stop_r5 = rospy.Publisher('/'+ robot_id5 + robot_model1 +'/stop', RobotStop, queue_size=10)
	car.pub_stop_r6 = rospy.Publisher('/'+ robot_id6 + robot_model2 +'/stop', RobotStop, queue_size=10)
string	car.robot_id1 = "dsr01"
string	car.robot_id2 = "dsr02"
string	car.robot_id3 = "dsr03"
string	car.robot_id4 = "dsr04"
string	car.robot_id5 = "dsr05"
string	car.robot_id6 = "dsr06"
	car.robot_model1
	car.robot_model2
	car.robot_model3
	car.robot_model4
	car.robot_model5
	car.robot_model6
	car.RobotSync = CRobotSync(NUM_ROBOT)
	car.t1 = threading.Thread(target=thread_robot1, args=(robot_id1, robot_model1))
	car.t2 = threading.Thread(target=thread_robot2, args=(robot_id2, robot_model2))
	car.t3 = threading.Thread(target=thread_robot3, args=(robot_id3, robot_model3))
	car.t4 = threading.Thread(target=thread_robot4, args=(robot_id4, robot_model4))
	car.t5 = threading.Thread(target=thread_robot5, args=(robot_id5, robot_model5))
	car.t6 = threading.Thread(target=thread_robot6, args=(robot_id6, robot_model6))
list	car.TCP_POS = [0, 0, 0, 0, 0, 0]
list	car.vel_spi = [400, 400]
list	car.velx = [0, 0]
list	car.X0 = [-88.7, 799.0, 182.3, 95.7, 93.7, 133.9]
list	car.x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7]
list	car.x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2]
list	car.x0204c = [x02, x04]
list	car.x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1]
list	car.x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3]
list	car.X1 = [304.2, 871.8, 141.5, 99.5, 84.9, 133.4]
list	car.X2 = [437.1, 876.9, 362.1, 99.6, 84.0, 132.1]
list	car.X3 = [-57.9, 782.4, 478.4, 99.6, 84.0, 132.1]