arm.py 文件源码

def emergency_stop_arm(self):
        if self.active_state == 'stopped' or \
                self.active_state == 'initialized':
            return

        if 'present_position' in base_servo_cache:
            stop_positions = [
                base_servo_cache['present_position'],
                femur01_servo_cache['present_position'],
                femur02_servo_cache['present_position'],
                tibia_servo_cache['present_position'],
                eff_servo_cache['present_position']
            ]
            log.info("[emergency_stop_arm] stop_positions:{0}".format(
                stop_positions))
            self.sg.write_values(
                register='goal_position', values=stop_positions)
            self.active_state = 'stopped'
            log.info("[emergency_stop_arm] active_state:{0}".format(
                self.active_state))
        else:
            log.error("[emergency_stop_arm] no 'present_position' cache value")