analog_io_rampup.py

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#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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import argparse

import rospy

import baxter_interface.analog_io as AIO


def test_interface(io_component='torso_fan'):
    """Ramps an Analog component from 0 to 100, then back down to 0."""
    rospy.loginfo("Ramping output of Analog IO component: %s", io_component)

    b = AIO.AnalogIO(io_component)
    rate = rospy.Rate(2)

    # start: 0.0
    print b.state()

    # ramp up
    for i in range(0, 101, 10):
        b.set_output(i)
        print i
        rate.sleep()
    # max: 100.0
    print b.state()

    # ramp down
    for i in range(100, -1, -10):
        b.set_output(i)
        print i
        rate.sleep()
    # (fans off)
    b.set_output(0)


def main():
    """RSDK Analog IO Example: Ramp

    Ramps the output of an AnalogIO component from 0 to 100,
    and then back down again. Demonstrates the use of the
    baxter_interface.AnalogIO class.

    Run this example and listen to the fan as output changes.
    """
    epilog = """
ROS Parameters:
  ~component_id        - name of AnalogIO component to use

Baxter AnalogIO
    Note that 'AnalogIO' components are only those that use
    the custom ROS Messages baxter_core_msgs/AnalogIOState
    and baxter_core_msgs/AnalogOutputCommand.

    AnalogIO component names can be found on the Wiki or by
    echoing the names field of the analog_io_states topic:
      $ rostopic echo -n 1 /robot/analog_io_states/names
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    parser.add_argument(
        '-c', '--component', dest='component_id', default='torso_fan',
        help='name of Analog IO component to use (default:= torso_fan)'
    )
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('rsdk_analog_io_rampup', anonymous=True)
    io_component = rospy.get_param('~component_id', args.component_id)
    test_interface(io_component)

if __name__ == '__main__':
    main()