#!/usr/bin/env python
import roslib; roslib.load_manifest('minipr2')
import rospy
import math
from wiimote.msg import State
from std_msgs.msg import Int64
from sensor_msgs.msg import JointState
from logical import Cluster

def callback(data, js):
    
    

def wiijoyck():
    rospy.init_node('wiijoyck')
    pub = rospy.Publisher('mpr2', JointState)
    js = JointState()
    js.name = ['l_shoulder_pan_joint', 'l_shoulder_tilt_joint','l_upper_arm_roll_joint','l_elbow_flex_joint','l_forearm_roll_joint','l_wrist_flex_joint']
    # Sends wiimote/state state messages to the callback function
    rospy.Subscriber("wiimote/state", State, callback, js)
    rospy.spin()

if __name__ == '__main__':
    try:
        wiijoyck()
    except rospy.ROSInterruptException: pass