Differences

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--- avatar_furo_source_codes [2022/06/27 01:45] – glee
+++ avatar_furo_source_codes [2022/06/30 08:58] (current) – glee
@@ Line 188: / Line 188: @@
 	print(output_y)
+def head_vel_callback(headCTR):
+	head_roll = headCTR.data
+	if head_roll==4:
+		rospy.loginfo("Head downward")
+		GPIO.output(DIG2, GPIO.HIGH)
+		p1.start(0)		# set AN2 as HIGH, M2B will turn ON
+		p2.start(30)				# set Direction for M2
+						#delay for 2 second
+	if head_roll==2:
+		rospy.loginfo("Head upward")
+		GPIO.output(DIG2, GPIO.LOW)
+		p1.start(0)
+		p2.start(30)
+	if head_roll==5:
+		rospy.loginfo("STOP")
+		p1.start(0)                          # Direction can ignore
+		p2.start(0)                          # Direction can ignore
+		                            #delay for 3 second
+def listener():
+	rospy.init_node("furo_head")
+	rospy.Subscriber("cmd_head",Float32, head_vel_callback)
+	rospy.Subscriber("target_coordinate",Point, head_motion_callback)
+	rate = rospy.Rate(200)
+	while not rospy.is_shutdown():
+		rate.sleep()
+if __name__ == '__main__':
+	listener()
 </code>
@@ Line 601: / Line 637: @@
 The ''**finalheadmotor.py**'' controls the motor controller of Furo's head.\\
 Directory: ''**head_motor/src/finalheadmotor.py **''
-<code python | finalheadmotor.py>\\
+<code python | finalheadmotor.py>
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-