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("imu", Imu, self.imuReceived)
rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
self.run()
def run(self):
rate = rospy.Rate(20.0)
+ sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
reset_val = self.get_reset()
rospy.loginfo("Reset Status: 0x%x" % reset_val)
i = 0
while not rospy.is_shutdown():
#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
- self.get_tle_err()
+ self.get_motor_err()
self.get_odom()
self.get_voltage()
if i % 2:
return reset
- def get_tle_err(self):
+ def get_motor_err(self):
err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
msg = DiagnosticArray()
stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
stat.message = "0x%02x" % err
- stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
- stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
- stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
- stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+ # Diag
+ stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+ stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+ stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+ stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+ # Stall
+ stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+ stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+ stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+ stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
msg.status.append(stat)
self.pub_diag.publish(msg)