import tf
import struct
import prctl
-from i2c import *
+import spidev
+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
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from sensor_msgs.msg import Imu, Range
+from wild_thumper.msg import LedStripe
WHEEL_DIST = 0.248
+class LPD8806:
+ def __init__(self, bus, device, num_leds):
+ self.spi = spidev.SpiDev()
+ self.spi.open(bus, device)
+ self.spi.mode=0b00
+ self.spi.max_speed_hz=int(2e6)
+ self.num_leds = num_leds
+ self.latch()
+ self.l = [(0, 0, 0)] * num_leds
+ self.update()
+
+ def set(self, i, red=0, green=0, blue=0):
+ if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
+ raise Exception("Bad RGB Value")
+ self.l[i] = (red, green, blue)
+
+ def latch(self):
+ self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
+
+ def update(self):
+ l = []
+ for i in range(self.num_leds):
+ red, green, blue = self.l[i]
+ l.append(0x80 | green)
+ l.append(0x80 | red)
+ l.append(0x80 | blue)
+ self.spi.writebytes(l)
+ self.latch()
+
class MoveBase:
def __init__(self):
rospy.init_node('wild_thumper')
prctl.set_name("wild_thumper")
- rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
- rospy.Subscriber("imu", Imu, self.imuReceived)
enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
if enable_odom_tf:
self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
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()
def run(self):
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:
dist = self.read_dist_srf(0x17)
self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
self.start_dist_srf(0x7) # get next value
+
+ def led_stripe_received(self, msg):
+ for led in msg.leds:
+ self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
+ self.pStripe.update()
if __name__ == "__main__":