from math import *
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
WHEEL_DIST = 0.248
rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
+ self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
self.set_speed(0, 0)
rospy.loginfo("Init done")
i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
def run(self):
rate = rospy.Rate(20.0)
+ reset_val = self.get_reset()
+ rospy.loginfo("Reset Status: 0x%x" % reset_val)
while not rospy.is_shutdown():
- #self.get_odom()
+ #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
+ self.get_tle_err()
+ self.get_odom()
+ self.get_voltage()
#self.get_dist_forward()
#self.get_dist_backward()
#self.get_dist_left()
#self.get_dist_right()
rate.sleep()
+ def get_reset(self):
+ reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Reset reason"
+ stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
+ stat.message = "0x%02x" % reset
+
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
+ stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+ return reset
+
+
+ def get_tle_err(self):
+ err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Motor: Error Status"
+ stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
+ stat.message = "0x%02x" % err
+
+ stat.values.append(KeyValue("Motor 1", str(bool(err & (1 << 0)))))
+ stat.values.append(KeyValue("Motor 2", str(bool(err & (1 << 1)))))
+ stat.values.append(KeyValue("Motor 3", str(bool(err & (1 << 2)))))
+ stat.values.append(KeyValue("Motor 4", str(bool(err & (1 << 3)))))
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+
+ def get_voltage(self):
+ volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Voltage"
+ stat.level = DiagnosticStatus.ERROR if volt < 6 else DiagnosticStatus.OK
+ stat.message = "%.2fV" % volt
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+
+
def get_odom(self):
posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))