havoc420ubuntu
c493db818a
- Enhance rotation feedback by printing current angle during and after rotation - Adjust angles and add target distance in task 1 execution - Modify stop method in BaseMsg class to use milliseconds for duration
25 lines
634 B
Python
25 lines
634 B
Python
import time
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class BaseMsg:
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def __init__(self, ctrl, msg):
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self.ctrl = ctrl
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self.msg = msg
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def stop_force(self):
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self.msg.mode = 0
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self.msg.gait_id = 0
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self.msg.duration = 0
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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self.ctrl.Wait_finish(0, 0)
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def stop(self, wait_time=200):
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self.msg.mode = 11
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self.msg.gait_id = 26
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self.msg.vel_des = [0, 0, 0]
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self.msg.duration = wait_time
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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if wait_time:
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time.sleep(wait_time / 1000)
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