Revert "wt_node: Transision from 4x TLE5205 to 2x VNH2SP30"

This reverts commit 390d3bf8a69f3cd23dae064db94865d3a38fe948.

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
deleted file mode 100755 (executable)
index b3bb880..0000000
--- a/scripts/engine_man_test.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: iso-8859-15 -*-
-
-import sys
-import struct
-from time import sleep
-from i2c import i2c_write_reg, i2c_read_reg
-
-
-def set(trans, rot):
-       i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
-
-if __name__ == "__main__":
-       set(float(sys.argv[1]), float(sys.argv[2]))
-       while True:
-               speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
-               print speed1, speed2, speed3, speed4
-               sleep(0.1)

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7fdf0444aead981ff55cedb43609cc122f75e001..a5978b032850342b1a0e3ad04e03f72a408ba584 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -64,9 +64,11 @@ class MoveBase:
                self.cmd_vel = None
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
+               i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.handicap_last = (-1, -1)
                self.pStripe = LPD8806(1, 0, 12)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
+               rospy.Subscriber("imu", Imu, self.imuReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                self.run()
        
@@ -93,6 +95,24 @@ class MoveBase:
                                self.cmd_vel = None
                        rate.sleep()
 
+       def set_motor_handicap(self, front, aft): # percent
+               if front > 100: front = 100
+               if aft > 100: aft = 100
+               if self.handicap_last != (front, aft):
+                       i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+                       self.handicap_last = (front, aft)
+
+       def imuReceived(self, msg):
+               (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+               if pitch > 30*pi/180:
+                       val = (100.0/60)*abs(pitch)*180/pi
+                       self.set_motor_handicap(int(val), 0)
+               elif pitch < -30*pi/180:
+                       val = (100.0/60)*abs(pitch)*180/pi
+                       self.set_motor_handicap(0, int(val))
+               else:
+                       self.set_motor_handicap(0, 0)
+
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]