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joy_receive

2014-07-19

joystick receiver



In [1]:

    
# Cross-notebook include shim
with open("nbinclude.ipynb") as nbinclude_f: # don't rename nbinclude_f
    import IPython.nbformat.current
    get_ipython().run_cell(IPython.nbformat.current.read(nbinclude_f, 'json').worksheets[0].cells[0].input)



In [2]:

    
import time, lcm
from python.forseti2 import piemos_cmd
from python.fearing import xbox_joystick_state



In [5]:

    
class RobotRunner:

    def handle_joy(self, chan, data):
        msg = xbox_joystick_state.decode(data)
        l,r = msg.axes[1], msg.axes[3]
        print(l,r)
#         self.robot.cmd(l,r)

    def lcm_run(self):
        lc=lcm.LCM('udpm://239.255.76.67:7667?ttl=1')
        sub=lc.subscribe("robot0/joy", self.handle_joy)
        self.running = True
        while self.running:
            lc.handle()
#             for tick in self.ticks:
#                 tick()
            time.sleep(.01)



In [6]:

    
rr=RobotRunner()



In [7]:

    
rr.lcm_run()









    



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---------------------------------------------------------------------------
KeyboardInterrupt                         Traceback (most recent call last)
<ipython-input-7-2fe86163f725> in <module>()
----> 1 rr.lcm_run()

<ipython-input-5-355ffd401688> in lcm_run(self)
     12         self.running = True
     13         while self.running:
---> 14             lc.handle()
     15 #             for tick in self.ticks:
     16 #                 tick()

KeyboardInterrupt:



In [ ]: