change slider_600.py

mycobot_pro/mycobot_600/scripts/slider_600.py

@@ -1,5 +1,5 @@
-#!/usr/bin/python
-
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
 from socket import *
 import math
 import sys
@@ -248,6 +248,7 @@ old_list = []
 
 def callback(data):
     """callback function,回调函数"""
+    satrt_time=time.time()
     global old_list
     # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
     print ("position", data.position)
@@ -262,33 +263,34 @@ def callback(data):
         mc.write_angles(data_list, 1999)
     elif old_list != data_list:
         old_list = data_list
-        if mc.check_running():
-            mc.task_stop()
-            time.sleep(0.05)
-
+        # if mc.check_running():
+            # mc.task_stop()
+            # time.sleep(0.05)
+            
         mc.write_angles(data_list, 1999)
 
+        end_time=time.time()
+        print('loop_time:',end_time-satrt_time)
 
 def listener():
     global mc
     rospy.init_node("control_slider", anonymous=True)
 
-    ip = rospy.get_param("~ip", "192.168.10.169")
+    ip = rospy.get_param("~ip", "192.168.10.159")
     print (ip)
     mc = ElephantRobot(ip, 5001)
     # START CLIENT,启动客户端
     res = mc.start_client()
     if res != "":
-        print res
         sys.exit(1)
-        print ep.wait(5)
-    print mc.get_angles()
-    print mc.get_coords()
-    mc.set_speed(30)
-    print mc.get_speed()
+        # print ep.wait(5)
+    # print mc.get_angles()
+    # print mc.get_coords()
+    mc.set_speed(90)
+    # print mc.get_speed()
 
     rospy.Subscriber("joint_states", JointState, callback)
-
+    end_time=time.time()
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止
     print ("sping ...")