myo-turtleSim.py 文件源码

def drive(gest):

        if gest.data == 1: #FIST
        turtlesimPub.publish("go back")
        tsPub.publish(Twist(Vector3(-1.0, 0, 0), Vector3(0, 0, 0)))
        elif gest.data == 2 and armState == 1: #WAVE_IN, RIGHT arm
        turtlesimPub.publish("go left")
        tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, 1.0)))
        elif gest.data == 2 and armState == 2: #WAVE_IN, LEFT arm
        turtlesimPub.publish("go right")
        tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, -1.0)))
        elif gest.data == 3 and armState == 1: #WAVE_OUT, RIGHT arm
        turtlesimPub.publish("go right")
        tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, -1.0)))
        elif gest.data == 3 and armState == 2: #WAVE_OUT, LEFT arm
        turtlesimPub.publish("go left")
        tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, 1.0)))
        elif gest.data == 4: #FINGERS_SPREAD
        turtlesimPub.publish("go forward")
        tsPub.publish(Twist(Vector3(1.0, 0, 0), Vector3(0, 0, 0)))