format python code and remove unused imports

Author: christian-rauch

robotiq_3f_gripper_control/nodes/Robotiq3FGripperSimpleController.py

@@ -43,15 +43,17 @@
 """
 
 from __future__ import print_function
-import roslib; roslib.load_manifest('robotiq_3f_gripper_control')
+
+import roslib;
+
+roslib.load_manifest('robotiq_3f_gripper_control')
 import rospy
 from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput
-from time import sleep
 
 
 def genCommand(char, command):
-    """Update the command according to the character entered by the user."""    
-        
+    """Update the command according to the character entered by the user."""
+
     if char == 'a':
         command = Robotiq3FGripperRobotOutput();
         command.rACT = 1
@@ -71,79 +73,78 @@ def genCommand(char, command):
 
     if char == 'b':
         command.rMOD = 0
-        
+
     if char == 'p':
         command.rMOD = 1
-        
+
     if char == 'w':
         command.rMOD = 2
-        
+
     if char == 's':
         command.rMOD = 3
 
-    #If the command entered is a int, assign this value to rPRA
-    try: 
+    # If the command entered is a int, assign this value to rPRA
+    try:
         command.rPRA = int(char)
         if command.rPRA > 255:
             command.rPRA = 255
         if command.rPRA < 0:
             command.rPRA = 0
     except ValueError:
-        pass                    
-        
+        pass
+
     if char == 'f':
         command.rSPA += 25
         if command.rSPA > 255:
             command.rSPA = 255
-            
+
     if char == 'l':
         command.rSPA -= 25
         if command.rSPA < 0:
             command.rSPA = 0
 
-            
     if char == 'i':
         command.rFRA += 25
         if command.rFRA > 255:
             command.rFRA = 255
-            
+
     if char == 'd':
         command.rFRA -= 25
         if command.rFRA < 0:
             command.rFRA = 0
 
     return command
-        
+
 
 def askForCommand(command):
-    """Ask the user for a command to send to the gripper."""    
+    """Ask the user for a command to send to the gripper."""
 
-    currentCommand  = 'Simple 3F gripper Controller\n-----\nCurrent command:'
-    currentCommand += ' rACT = '  + str(command.rACT)
+    currentCommand = 'Simple 3F gripper Controller\n-----\nCurrent command:'
+    currentCommand += ' rACT = ' + str(command.rACT)
     currentCommand += ', rMOD = ' + str(command.rMOD)
     currentCommand += ', rGTO = ' + str(command.rGTO)
     currentCommand += ', rATR = ' + str(command.rATR)
-##    currentCommand += ', rGLV = ' + str(command.rGLV)
-##    currentCommand += ', rICF = ' + str(command.rICF)
-##    currentCommand += ', rICS = ' + str(command.rICS)
+    ##    currentCommand += ', rGLV = ' + str(command.rGLV)
+    ##    currentCommand += ', rICF = ' + str(command.rICF)
+    ##    currentCommand += ', rICS = ' + str(command.rICS)
     currentCommand += ', rPRA = ' + str(command.rPRA)
     currentCommand += ', rSPA = ' + str(command.rSPA)
     currentCommand += ', rFRA = ' + str(command.rFRA)
 
-    #We only show the simple control mode
-##    currentCommand += ', rPRB = ' + str(command.rPRB)
-##    currentCommand += ', rSPB = ' + str(command.rSPB)
-##    currentCommand += ', rFRB = ' + str(command.rFRB)
-##    currentCommand += ', rPRC = ' + str(command.rPRC)
-##    currentCommand += ', rSPC = ' + str(command.rSPC)
-##    currentCommand += ', rFRC = ' + str(command.rFRC)
-##    currentCommand += ', rPRS = ' + str(command.rPRS)
-##    currentCommand += ', rSPS = ' + str(command.rSPS)
-##    currentCommand += ', rFRS = ' + str(command.rFRS)
+    # We only show the simple control mode
+    ##    currentCommand += ', rPRB = ' + str(command.rPRB)
+    ##    currentCommand += ', rSPB = ' + str(command.rSPB)
+    ##    currentCommand += ', rFRB = ' + str(command.rFRB)
+    ##    currentCommand += ', rPRC = ' + str(command.rPRC)
+    ##    currentCommand += ', rSPC = ' + str(command.rSPC)
+    ##    currentCommand += ', rFRC = ' + str(command.rFRC)
+    ##    currentCommand += ', rPRS = ' + str(command.rPRS)
+    ##    currentCommand += ', rSPS = ' + str(command.rSPS)
+    ##    currentCommand += ', rFRS = ' + str(command.rFRS)
 
     print(currentCommand)
 
-    strAskForCommand  = '-----\nAvailable commands\n\n'
+    strAskForCommand = '-----\nAvailable commands\n\n'
     strAskForCommand += 'r: Reset\n'
     strAskForCommand += 'a: Activate\n'
     strAskForCommand += 'c: Close\n'
@@ -157,28 +158,28 @@ def askForCommand(command):
     strAskForCommand += 'l: Slower\n'
     strAskForCommand += 'i: Increase force\n'
     strAskForCommand += 'd: Decrease force\n'
-    
+
     strAskForCommand += '-->'
 
     return raw_input(strAskForCommand)
 
+
 def publisher():
     """Main loop which requests new commands and publish them on the Robotiq3FGripperRobotOutput topic."""
 
     rospy.init_node('Robotiq3FGripperSimpleController')
-    
+
     pub = rospy.Publisher('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput)
 
     command = Robotiq3FGripperRobotOutput();
 
     while not rospy.is_shutdown():
+        command = genCommand(askForCommand(command), command)
 
-        command = genCommand(askForCommand(command), command)            
-        
         pub.publish(command)
 
         rospy.sleep(0.1)
-                        
+
 
 if __name__ == '__main__':
     publisher()