From 83ad498c34bd5ccdc12d98ebc59e8a5b3a5165b2 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 1 May 2016 12:33:38 +0200
Subject: [PATCH] Revert "wt_node: Transision from 4x TLE5205 to 2x VNH2SP30"

This reverts commit 390d3bf8a69f3cd23dae064db94865d3a38fe948.
---
 scripts/engine_man_test.py | 18 ------------------
 scripts/wt_node.py         | 20 ++++++++++++++++++++
 2 files changed, 20 insertions(+), 18 deletions(-)
 delete mode 100755 scripts/engine_man_test.py

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
deleted file mode 100755
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 7fdf044..a5978b0 100755
--- 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]
 
-- 
2.39.5