motioncontroller.py 文件源码

def _run(self):
        try:
            loopTimer = Timer()
            while self.active:
                speedL = self.targetV - self.targetOmega * self.odometer.track / 2.
                speedR = self.targetV + self.targetOmega * self.odometer.track / 2.
                self.motors.speed(speedL, speedR)
                loopTimer.sleepToElapsed(self.timeStep)
                self.odometer.update()
        except IOError:
            print "IOError - Stopping"
            self.stop()
            self.kill()

    # Starts the ._run() method in a thread