From 390d3bf8a69f3cd23dae064db94865d3a38fe948 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Mon, 18 Apr 2016 18:47:37 +0200
Subject: [PATCH] wt_node: Transision from 4x TLE5205 to 2x VNH2SP30

---
 scripts/engine_man_test.py | 18 ++++++++++++++++++
 scripts/wt_node.py         | 20 --------------------
 2 files changed, 18 insertions(+), 20 deletions(-)
 create mode 100755 scripts/engine_man_test.py

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
new file mode 100755
index 0000000..b3bb880
--- /dev/null
+++ b/scripts/engine_man_test.py
@@ -0,0 +1,18 @@
+#!/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 a5978b0..7fdf044 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -64,11 +64,9 @@ 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()
 	
@@ -95,24 +93,6 @@ 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]
 
-- 
2.39.5