Migration to ros control (diff_drive_controller)

[ros_roboint.git] / include / robo_explorer_hardware.h

diff --git a/include/robo_explorer_hardware.h b/include/robo_explorer_hardware.h
new file mode 100644 (file)
index 0000000..5c144d5
--- /dev/null
+++ b/include/robo_explorer_hardware.h
@@ -0,0 +1,103 @@
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include "roboint/Inputs.h"
+#include "roboint/Motor.h"
+
+class RoboExplorer : public hardware_interface::RobotHW
+{
+       public:
+               RoboExplorer(ros::NodeHandle nh) { 
+                       this->nh = nh;
+                       pub_motor = nh.advertise<roboint::Motor>("ft/set_motor", 10);
+                       sub_inputs = nh.subscribe("ft/get_inputs", 10, &RoboExplorer::cbInputs, this);
+
+                       // connect and register the joint state interface
+                       hardware_interface::JointStateHandle state_handle_left("left_wheel_joint", &pos[0], &vel[0], &eff[0]);
+                       jnt_state_interface.registerHandle(state_handle_left);
+                       hardware_interface::JointStateHandle state_handle_right("right_wheel_joint", &pos[1], &vel[1], &eff[1]);
+                       jnt_state_interface.registerHandle(state_handle_right);
+                       registerInterface(&jnt_state_interface);
+
+                       // connect and register the joint velocity interface
+                       hardware_interface::JointHandle joint_handle_left(state_handle_left, &cmd[0]);
+                       jnt_velocity_interface.registerHandle(joint_handle_left);
+                       hardware_interface::JointHandle joint_handle_right(state_handle_right, &cmd[1]);
+                       jnt_velocity_interface.registerHandle(joint_handle_right);
+                       registerInterface(&jnt_velocity_interface);
+               }
+
+               // Converts pos_encoder from wheels to wheel angles
+               void read(ros::Duration period) {
+                       static double pos_last[2];
+
+                       pos[0] = pos_encoder[0] * M_PI/8;
+                       pos[1] = pos_encoder[1] * M_PI/8;
+                       vel[0] = (pos[0] - pos_last[0])/period.toSec();
+                       vel[1] = (pos[1] - pos_last[1])/period.toSec();
+                       
+                       std::copy(std::begin(pos), std::end(pos), std::begin(pos_last));
+               }
+
+               // Writes current velocity command to hardware
+               void write() {
+                       double speed_l = 0;
+                       double speed_r = 0;
+                       double wish_speed_left = cmd[0];
+                       double wish_speed_right = cmd[1];
+                       roboint::Motor msg;
+
+                       if (fabs(wish_speed_left) > 0) {
+                               speed_l = 64.3*fabs(wish_speed_left) -1.7;
+                               if (wish_speed_left < 0) speed_l*=-1;
+                       }
+                       if (fabs(wish_speed_right) > 0) {
+                               speed_r = 64.3*fabs(wish_speed_right) -1.7;
+                               if (wish_speed_right < 0) speed_r*=-1;
+                       }
+
+                       // check limits
+                       if (speed_l < -7) speed_l = -7;
+                       else if (speed_l > 7) speed_l = 7;
+                       if (speed_r < -7) speed_r = -7;
+                       else if (speed_r > 7) speed_r = 7;
+
+                       msg.num = 0;
+                       msg.speed = round(speed_l);
+                       pub_motor.publish(msg);
+
+                       msg.num = 1;
+                       msg.speed = round(speed_r);
+                       pub_motor.publish(msg);
+               }
+
+               // Reads current input state and increases pos_encoder on change
+               void cbInputs(const roboint::Inputs::ConstPtr& msg) {
+                       static std::array<uint8_t, 8> input_last;
+
+                       if (msg->input[0] != input_last[0]) { // left input changed
+                               // outputs have direction information
+                               if (msg->output[0] > 0) pos_encoder[0]++;
+                               else if (msg->output[1] > 0) pos_encoder[0]--;
+                       }
+                       if (msg->input[1] != input_last[1]) { // right input changed
+                               // outputs have direction information
+                               if (msg->output[2] > 0) pos_encoder[1]++;
+                               else if (msg->output[3] > 0) pos_encoder[1]--;
+                       }
+
+                       std::copy(std::begin(msg->input), std::end(msg->input), std::begin(input_last));
+               }
+
+       private:
+               hardware_interface::JointStateInterface jnt_state_interface;
+               hardware_interface::VelocityJointInterface jnt_velocity_interface;
+               ros::NodeHandle nh;
+               ros::Publisher pub_motor;
+               ros::Subscriber sub_inputs;
+               double cmd[2];
+               double pos[2];
+               double vel[2];
+               double eff[2];
+               int64_t pos_encoder[2] = {0, 0};
+};