From 7407e894ef07408064eb1eeff0a4c4901dcd91f4 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 14 Apr 2017 09:46:44 +0200 Subject: [PATCH] Activate rollover protection only when moving and default to max pwm --- config/wt_node.cfg | 2 +- scripts/wt_node.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/config/wt_node.cfg b/config/wt_node.cfg index 768363a..4217be7 100755 --- a/config/wt_node.cfg +++ b/config/wt_node.cfg @@ -10,6 +10,6 @@ gen.add("odom_covar_xy", double_t, 0, "Odometry covariance: translation", 1e-2, gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832) gen.add("rollover_protect", bool_t, 0, "Enable motor rollover protection on pitch", True) gen.add("rollover_protect_limit",double_t, 0, "Pitch rollover protection limit (degree)", 45, 0, 90) -gen.add("rollover_protect_pwm", double_t, 0, "Pitch rollover protection speed (pwm)", 100, 0, 255) +gen.add("rollover_protect_pwm", double_t, 0, "Pitch rollover protection speed (pwm)", 255, 0, 255) exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper")) diff --git a/scripts/wt_node.py b/scripts/wt_node.py index afef56a..b4bb8eb 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -65,6 +65,7 @@ class MoveBase: self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16) self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16) self.cmd_vel = None + self.cur_vel = (0, 0) self.bMotorManual = False self.set_speed(0, 0) rospy.loginfo("Init done") @@ -96,6 +97,7 @@ class MoveBase: i+=1 if self.cmd_vel != None: self.set_speed(self.cmd_vel[0], self.cmd_vel[1]) + self.cur_vel = self.cmd_vel self.cmd_vel = None rate.sleep() @@ -111,7 +113,7 @@ class MoveBase: return config def imuReceived(self, msg): - if self.rollover_protect: + if self.rollover_protect and any(self.cur_vel): (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__()) if pitch > self.rollover_protect_limit*pi/180: self.bMotorManual = True @@ -124,6 +126,7 @@ class MoveBase: elif self.bMotorManual: i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0)) self.bMotorManual = False + self.cmd_vel = (0, 0) rospy.logwarn("Rollver protection done") def get_reset(self): -- 2.39.5