imuTurtle.py 文件源码

def drive(gest):
        global movingState
        global zero
        global speed
        if gest.data == 1: #FIST
            movingState -= 1
        elif gest.data == 4 or gest.data == 2: #FINGERS_SPREAD
            movingState += 1
        elif gest.data == 3 :
            zero = y

        if movingState > 0 :
            movingState = 1
            turtlesimPub.publish("go forward")
            speed = 1
#           tsPub.publish(Twist(Vector3(1.0, 0, 0), Vector3(0, 0, 0)))
        elif movingState < 0 :
            movingState = -1
            turtlesimPub.publish("go back")
            speed = -1
#           tsPub.publish(Twist(Vector3(-1.0, 0, 0), Vector3(0, 0, 0)))
        else :
            speed = 0
        print (speed)