io.py
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00001 #!/usr/bin/env python
00002 
00003 """
00004   io.py - ROS wrappers for ArbotiX I/O
00005   Copyright (c) 2010-2011 Vanadium Labs LLC.  All right reserved.
00006 
00007   Redistribution and use in source and binary forms, with or without
00008   modification, are permitted provided that the following conditions are met:
00009       * Redistributions of source code must retain the above copyright
00010         notice, this list of conditions and the following disclaimer.
00011       * Redistributions in binary form must reproduce the above copyright
00012         notice, this list of conditions and the following disclaimer in the
00013         documentation and/or other materials provided with the distribution.
00014       * Neither the name of Vanadium Labs LLC nor the names of its 
00015         contributors may be used to endorse or promote products derived 
00016         from this software without specific prior written permission.
00017   
00018   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021   DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024   OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025   LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026   OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 """
00029 
00030 import rospy
00031 from arbotix_msgs.msg import *
00032 
00033 class DigitalServo:
00034     """ Class for a digital output. """
00035     def __init__(self, name, pin, value, rate, device):
00036         self.device = device
00037         self.value = value
00038         self.direction = 0
00039         self.pin = pin
00040         self.device.setDigital(self.pin, self.value, self.direction)
00041         rospy.Subscriber('~'+name, Digital, self.stateCb)
00042         self.t_delta = rospy.Duration(1.0/rate)
00043         self.t_next = rospy.Time.now() + self.t_delta
00044     def stateCb(self, msg):
00045         self.value = msg.value
00046         self.direction = msg.direction
00047     def update(self):
00048         if rospy.Time.now() > self.t_next:
00049             self.device.setDigital(self.pin, self.value, self.direction)
00050             self.t_next = rospy.Time.now() + self.t_delta
00051 
00052 class DigitalSensor:
00053     """ Class for a digital input. """
00054     def __init__(self, name, pin, value, rate, device):
00055         self.device = device
00056         self.pin = pin
00057         self.device.setDigital(pin, value, 0)
00058         self.pub = rospy.Publisher('~'+name, Digital, queue_size=5)
00059         self.t_delta = rospy.Duration(1.0/rate)
00060         self.t_next = rospy.Time.now() + self.t_delta
00061     def update(self):
00062         if rospy.Time.now() > self.t_next:
00063             msg = Digital()
00064             msg.header.stamp = rospy.Time.now()
00065             msg.value = self.device.getDigital(self.pin)
00066             self.pub.publish(msg)
00067             self.t_next = rospy.Time.now() + self.t_delta
00068 
00069 class AnalogSensor:
00070     """ Class for an analog input. """
00071     def __init__(self, name, pin, value, rate, leng, device):
00072         self.device = device
00073         self.pin = pin
00074         self.device.setDigital(pin, value, 0)
00075         self.pub = rospy.Publisher('~'+name, Analog, queue_size=5)
00076         self.t_delta = rospy.Duration(1.0/rate)
00077         self.t_next = rospy.Time.now() + self.t_delta
00078         self.leng = leng
00079     def update(self):
00080         if rospy.Time.now() > self.t_next:
00081             msg = Analog()
00082             msg.header.stamp = rospy.Time.now()
00083             msg.value = self.device.getAnalog(self.pin, self.leng)
00084             if msg.value >= 0:
00085                 self.pub.publish(msg)
00086             self.t_next = rospy.Time.now() + self.t_delta
00087 


arbotix_python
Author(s): Michael Ferguson
autogenerated on Sun Mar 6 2016 11:22:49