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test #4

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havoc420ubuntu 2025-08-17 15:37:03 +00:00
parent f9c59291fd
commit 1127cb7cbf
1 changed files with 4 additions and 4 deletions
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8
base-move-demo.py
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@ -101,10 +101,10 @@ class Robot_Ctrl(object):
self.mode_ok = self.rec_msg.mode self.mode_ok = self.rec_msg.mode
else: else:
self.mode_ok = 0 self.mode_ok = 0
if self.timestamp % 100 == 0 or self.rec_msg_last_mode_id != self.rec_msg.mode_id: if self.timestamp % 100 == 0 or self.rec_msg_last_mode_id != self.rec_msg.mode:
print("[rec_msg]", self.rec_msg.mode, self.rec_msg.gait_id, self.rec_msg.contact, self.rec_msg.order_process_bar, self.rec_msg.switch_status, self.rec_msg.ori_error, self.rec_msg.footpos_error, self.rec_msg.motor_error) print("[rec_msg]", self.rec_msg.mode, self.rec_msg.gait_id, self.rec_msg.contact, self.rec_msg.order_process_bar, self.rec_msg.switch_status, self.rec_msg.ori_error, self.rec_msg.footpos_error, self.rec_msg.motor_error)
self.timestamp = 0 self.timestamp = 0
self.rec_msg_last_mode_id = self.rec_msg.mode_id self.rec_msg_last_mode_id = self.rec_msg.mode
self.timestamp += 1 self.timestamp += 1
def msg_handler_o(self, channel, data): def msg_handler_o(self, channel, data):
@ -120,7 +120,7 @@ class Robot_Ctrl(object):
self.odo_msg.xyz[1] - self.calibration_offset[1], self.odo_msg.xyz[1] - self.calibration_offset[1],
self.odo_msg.xyz[2] - self.calibration_offset[2] self.odo_msg.xyz[2] - self.calibration_offset[2]
] ]
if self.odo_msg.timestamp % 100 == 0: if self.odo_msg.timestamp % 200 == 0:
print("[odo_msg]", self.odo_msg.xyz, self.odo_msg.rpy, self.odo_msg.vxyz, self.odo_msg.omegaBody, self.odo_msg.vBody) print("[odo_msg]", self.odo_msg.xyz, self.odo_msg.rpy, self.odo_msg.vxyz, self.odo_msg.omegaBody, self.odo_msg.vBody)
def odo_reset(self): def odo_reset(self):
@ -163,7 +163,7 @@ class Robot_Ctrl(object):
self.cmd_msg = msg self.cmd_msg = msg
self.cmd_msg.life_count %= 127 self.cmd_msg.life_count %= 127
self.send_lock.release() self.send_lock.release()
self.send_publish() # self.send_publish()
def place_marker(self, x, y, z, color, observe=False): def place_marker(self, x, y, z, color, observe=False):
return None return None