car Namespace Reference

Classes
class	CRobotSync

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

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

Function Documentation

def car.shutdown

(

)

Definition at line 790 of file car.py.

def car.thread_robot1	(		robot_id,
			robot_model
	)

Definition at line 121 of file car.py.

def car.thread_robot2	(		robot_id,
			robot_model
	)

Definition at line 234 of file car.py.

def car.thread_robot3	(		robot_id,
			robot_model
	)

Definition at line 345 of file car.py.

def car.thread_robot4	(		robot_id,
			robot_model
	)

Definition at line 457 of file car.py.

def car.thread_robot5	(		robot_id,
			robot_model
	)

Definition at line 568 of file car.py.

def car.thread_robot6	(		robot_id,
			robot_model
	)

Definition at line 679 of file car.py.

Variable Documentation

list car.acc_spi = [150, 150]

Definition at line 107 of file car.py.

list car.accx = [0, 0]

Definition at line 105 of file car.py.

list car.amp = [0, 0, 0, 30, 30, 0]

Definition at line 113 of file car.py.

car.daemon

Definition at line 826 of file car.py.

car.dont_write_bytecode

Definition at line 11 of file car.py.

list car.dREL1 = [0, 0, 350, 0, 0, 0]

Definition at line 102 of file car.py.

list car.dREL2 = [0, 0, -350, 0, 0, 0]

Definition at line 103 of file car.py.

car.J0 = posj(0, 0, 0, 0, 0, 0)

Definition at line 84 of file car.py.

list car.J00 = [-180, 0, -145, 0, -35, 0]

Definition at line 89 of file car.py.

list car.J01r = [-180.0, 71.4, -145.0, 0.0, -9.7, 0.0]

Definition at line 90 of file car.py.

list car.J02r = [-180.0, 67.7, -144.0, 0.0, 76.3, 0.0]

Definition at line 91 of file car.py.

list car.J03r = [-180.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Definition at line 92 of file car.py.

list car.J04r = [-90.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Definition at line 93 of file car.py.

list car.J04r1 = [-90.0, 30.0, -60.0, 0.0, 30.0, -0.0]

Definition at line 94 of file car.py.

list car.J04r2 = [-90.0, -45.0, 90.0, 0.0, -45.0, -0.0]

Definition at line 95 of file car.py.

list car.J04r3 = [-90.0, 60.0, -120.0, 0.0, 60.0, -0.0]

Definition at line 96 of file car.py.

list car.J04r4 = [-90.0, 0.0, -0.0, 0.0, 0.0, -0.0]

Definition at line 97 of file car.py.

list car.J05r = [-144.0, -4.0, -84.8, -90.9, 54.0, -1.1]

Definition at line 98 of file car.py.

list car.J07r = [-152.4, 12.4, -78.6, 18.7, -68.3, -37.7]

Definition at line 99 of file car.py.

list car.J08r = [-90.0, 30.0, -120.0, -90.0, -90.0, 0.0]

Definition at line 100 of file car.py.

list car.J1 = posj(0, 0, 0, 30, 30, 0)

Definition at line 85 of file car.py.

list car.JEnd = [0.0, -12.6, 101.1, 0.0, 91.5, -0.0]

Definition at line 101 of file car.py.

list car.JReady = [0, -20, 110, 0, 60, 0]

Definition at line 87 of file car.py.

int car.NUM_ROBOT = 4

Definition at line 25 of file car.py.

list car.period = [0, 0, 0, 3, 6, 0]

Definition at line 114 of file car.py.

car.pub_stop_r1 = rospy.Publisher('/'+ robot_id1 + robot_model1 +'/stop', RobotStop, queue_size=10)

Definition at line 816 of file car.py.

car.pub_stop_r2 = rospy.Publisher('/'+ robot_id2 + robot_model2 +'/stop', RobotStop, queue_size=10)

Definition at line 817 of file car.py.

car.pub_stop_r3 = rospy.Publisher('/'+ robot_id3 + robot_model1 +'/stop', RobotStop, queue_size=10)

Definition at line 818 of file car.py.

car.pub_stop_r4 = rospy.Publisher('/'+ robot_id4 + robot_model2 +'/stop', RobotStop, queue_size=10)

Definition at line 819 of file car.py.

car.pub_stop_r5 = rospy.Publisher('/'+ robot_id5 + robot_model1 +'/stop', RobotStop, queue_size=10)

Definition at line 820 of file car.py.

car.pub_stop_r6 = rospy.Publisher('/'+ robot_id6 + robot_model2 +'/stop', RobotStop, queue_size=10)

Definition at line 821 of file car.py.

string car.robot_id1 = "dsr01"

Definition at line 809 of file car.py.

string car.robot_id2 = "dsr02"

Definition at line 810 of file car.py.

string car.robot_id3 = "dsr03"

Definition at line 811 of file car.py.

string car.robot_id4 = "dsr04"

Definition at line 812 of file car.py.

string car.robot_id5 = "dsr05"

Definition at line 813 of file car.py.

string car.robot_id6 = "dsr06"

Definition at line 814 of file car.py.

car.robot_model1

Definition at line 809 of file car.py.

car.robot_model2

Definition at line 810 of file car.py.

car.robot_model3

Definition at line 811 of file car.py.

car.robot_model4

Definition at line 812 of file car.py.

car.robot_model5

Definition at line 813 of file car.py.

car.robot_model6

Definition at line 814 of file car.py.

car.RobotSync = CRobotSync(NUM_ROBOT)

Definition at line 78 of file car.py.

car.t1 = threading.Thread(target=thread_robot1, args=(robot_id1, robot_model1))

Definition at line 825 of file car.py.

car.t2 = threading.Thread(target=thread_robot2, args=(robot_id2, robot_model2))

Definition at line 829 of file car.py.

car.t3 = threading.Thread(target=thread_robot3, args=(robot_id3, robot_model3))

Definition at line 833 of file car.py.

car.t4 = threading.Thread(target=thread_robot4, args=(robot_id4, robot_model4))

Definition at line 837 of file car.py.

car.t5 = threading.Thread(target=thread_robot5, args=(robot_id5, robot_model5))

Definition at line 841 of file car.py.

car.t6 = threading.Thread(target=thread_robot6, args=(robot_id6, robot_model6))

Definition at line 845 of file car.py.

list car.TCP_POS = [0, 0, 0, 0, 0, 0]

Definition at line 88 of file car.py.

list car.vel_spi = [400, 400]

Definition at line 106 of file car.py.

list car.velx = [0, 0]

Definition at line 104 of file car.py.

list car.X0 = [-88.7, 799.0, 182.3, 95.7, 93.7, 133.9]

Definition at line 109 of file car.py.

list car.x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7]

Definition at line 115 of file car.py.

list car.x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2]

Definition at line 116 of file car.py.

list car.x0204c = [x02, x04]

Definition at line 119 of file car.py.

list car.x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1]

Definition at line 117 of file car.py.

list car.x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3]

Definition at line 118 of file car.py.

list car.X1 = [304.2, 871.8, 141.5, 99.5, 84.9, 133.4]

Definition at line 110 of file car.py.

list car.X2 = [437.1, 876.9, 362.1, 99.6, 84.0, 132.1]

Definition at line 111 of file car.py.

list car.X3 = [-57.9, 782.4, 478.4, 99.6, 84.0, 132.1]

Definition at line 112 of file car.py.