14 lines
473 B
Python
14 lines
473 B
Python
import struct
|
|
from remote_control_unit import RemoteControlUnit
|
|
|
|
|
|
class Control:
|
|
def __init__(self):
|
|
self.mode = ['lock', 'manual']
|
|
self.data = {'mode': self.mode[1], 'thrust': 0, 'rudder': 0, }
|
|
|
|
def run(self, usv):
|
|
if self.data['mode'] == self.mode[1]:
|
|
self.data['rudder'] = int(1.4881 * (usv.futaba.receive_data['channel1'] - 1024))
|
|
self.data['thrust'] = int(-1.4881 * (usv.futaba.receive_data['channel3'] - 1024))
|