import struct
import prctl
import spidev
-from i2c import *
+from time import sleep
+from i2c import i2c, i2c_write_reg, i2c_read_reg
from math import *
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
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)))))
+ wdrf = bool(reset & (1 << 3))
+ if wdrf: rospy.loginfo("Watchdog Reset")
+ borf = bool(reset & (1 << 2))
+ if borf: rospy.loginfo("Brown-out Reset Flag")
+ extrf = bool(reset & (1 << 1))
+ if extrf: rospy.loginfo("External Reset Flag")
+ porf = bool(reset & (1 << 0))
+ if porf: rospy.loginfo("Power-on Reset Flag")
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
+ stat.values.append(KeyValue("External Reset Flag", str(extrf)))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
msg.status.append(stat)
self.pub_diag.publish(msg)
dev.close()
def read_dist_srf(self, num):
- dev = i2c(0x52)
- s = struct.pack("B", num)
- dev.write(s)
- dev.close()
-
- dev = i2c(0x52)
- s = dev.read(2)
- dev.close()
-
- return struct.unpack(">H", s)[0]/1000.0
+ return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
msg = Range()
def get_dist_left(self):
if self.pub_range_left.get_num_connections() > 0:
- dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
+ dist = self.get_dist_ir(0x1)
+ if dist > -67:
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
def get_dist_right(self):
if self.pub_range_right.get_num_connections() > 0:
- dist = 17.4/(self.get_dist_ir(0x3) - 69)
- self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
+ dist = self.get_dist_ir(0x3)
+ if dist > 69:
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
def get_dist_forward(self):
if self.pub_range_fwd.get_num_connections() > 0: