/Users/jaycesheachow/Public/Hexbot_ROS.

py
Saved: 12/16/15, 9:08:05 PM
1
2
3
4
5

Page 1 of 2
Printed For: Jayce Shea Chow

#!/usr/bin/env python
"""
Base structure for communicating with ROS
## = required for all ros programs, # = specific to this example
"""

6
7
8

import rospy # import ros

from std_msgs.msg import String, Int16MultiArray, MultiArrayLayout, MultiArr

9
10
11
12

# Jayce's Imports
import math
from numpy import *

13
14
15
16

# RJ's Imports
from HExBOT_move_RD import *
from Leg_RD import *

17
18
19
20
21
22
23
24
25

""" ## = required for all ros programs, # = specific to this example """
class HExBOT(object): # classes make things better, promise
""" This class encompasses the entire node """
def __init__(self):
''' setup ROS stuff '''
self.runrate = 3 #hertz
self.hexbot = Hexbot(self.runrate)

26
27

rospy.init_node('hexbot_control')

# initialize node

28
29
30
31

# publish to 'data_array' topic

self.pub = rospy.Publisher('data_array', Int16MultiArray, queue_size
self.error_pub = rospy.Publisher('errors', String, queue_size=10) #

32
33
34

''' initialize variables to use later '''

self.out = Int16MultiArray()

35
36
37
38
39
40

def run(self):
""" main run loop """
r = rospy.Rate(self.runrate) # sets rate for the program to run (Hz
# instead of while true, otherwice crtl+C doesn't work

41
42
43
44
45

# publish initial positions to get hexbot ready

self.out.data = self.hexbot.legpositions
self.pub.publish(self.out)

/Users/jaycesheachow/Public/Hexbot_ROS.py
Saved: 12/16/15, 9:08:05 PM
46

Page 2 of 2
Printed For: Jayce Shea Chow

while not rospy.is_shutdown():

47
48
49
50
51
52
53
54
55
56
57

"""
# find next servo position
self.legpositions = hexy.movebot('walkforward', self.t, self.leg
self.out.data = self.legpositions
self.pub.publish(self.out)
# increment timestep
self.t += 1
if self.t >= 48:
self.t = 1
"""

58
59
60
61

self.hexbot.walkrate(0, 0, 1, self.runrate)
self.out.data = self.hexbot.legpositions
self.pub.publish(self.out)

62
63
64

# wait until next time this code should run (according to rospy.
r.sleep()

65
66
67
68
69
70
71

if __name__ == '__main__':
#run above code
node = HExBOT()
node.run()