只有当使用IIC驱动的时候才使能smbus

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_driver.py

@@ -29,8 +29,7 @@ class Arduino:
         self.is_use_serial = is_use_serial
         self.serial_port   = serial_port
         self.baudrate = baudrate
-        
-        self.i2c_bus = smbus.SMBus(1)
+
         self.i2c_slave_addr = i2c_slave_addr
 
         self.timeout  = timeout
@@ -52,6 +51,7 @@ class Arduino:
         if self.is_use_serial:
             self.serial_connect()
         else:
+            self.i2c_bus = smbus.SMBus(1)
             self.i2c_connect()
 
     def serial_connect(self):
@@ -81,7 +81,7 @@ class Arduino:
 
     def i2c_connect(self):
         try:
-            
+
             print "Connecting to Arduino on IIC addr ", self.i2c_slave_addr, "..."
             test = self.i2c_get_baud()
             if test != self.baudrate:
@@ -279,7 +279,7 @@ class Arduino:
     def i2c_update_pid(self, AWheel_Kp, AWheel_Kd, AWheel_Ki, AWheel_Ko,
                          BWheel_Kp, BWheel_Kd, BWheel_Ki, BWheel_Ko,
                          CWheel_Kp, CWheel_Kd, CWheel_Ki, CWheel_Ko ):
-        print "Updating PID parameters by IIC"        
+        print "Updating PID parameters by IIC"
 
     def get_baud(self):
         ''' Get the current baud rate on the serial port.
@@ -342,7 +342,7 @@ class Arduino:
         '''
         #rospy.loginfo("drive() A:" + str(AWheel) + ",B:" + str(BWheel) + ",C:" + str(CWheel))
         return self.execute_ack('m %d %d %d' %(AWheel, BWheel, CWheel))
-    
+
     def i2c_drive(self, AWheel, BWheel, CWheel):
         ''' Speeds are given in encoder ticks per PID interval
         '''