Commit d535a9f7 authored by bucyril's avatar bucyril
Browse files

CrazyRadio is now working

parent 89698a59
......@@ -94,8 +94,8 @@ class PPSRadioClient:
def motorCommandCallback(data):
"""Callback for motor controller actions"""
cf_client._send_to_commander(0, 0, 0, 0, data.cmd1, data.cmd2, data.cmd3, 40, CONTROLLER_MOTOR)
rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1,data.cmd2,data.cmd3,data.cmd4)
cf_client._send_to_commander(0, 0, 0, 0, data.cmd1 * 10000, data.cmd2 * 10000, data.cmd3 * 10000, data.cmd4 * 10000, CONTROLLER_MOTOR)
rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1, data.cmd2, data.cmd3, data.cmd4)
def angleCommandCallback(data):
"""Callback for angle controller actions"""
......@@ -135,8 +135,8 @@ if __name__ == '__main__':
rospy.Subscriber("/PPSClient/RateCommand", RateCommand, rateCommandCallback)
rospy.spin()
rospy.loginfo("Setting crazyflie setpoint to 0")
cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, 0)
rospy.loginfo("Turning off crazyflie")
cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, CONTROLLER_MOTOR)
cf_client._cf.close_link()
else:
rospy.logerr("No Crazyflies found")
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment