self.cmd_vel = None
self.set_speed(0, 0)
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()
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:
self.cmd_vel = None
rate.sleep()
+ def set_motor_handicap(self, front, aft): # percent
+ if front > 100: front = 100
+ if aft > 100: aft = 100
+ if self.handicap_last != (front, aft):
+ i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+ self.handicap_last = (front, aft)
+
+ def imuReceived(self, msg):
+ (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+ if pitch > 30*pi/180:
+ val = (100.0/60)*abs(pitch)*180/pi
+ self.set_motor_handicap(int(val), 0)
+ elif pitch < -30*pi/180:
+ val = (100.0/60)*abs(pitch)*180/pi
+ self.set_motor_handicap(0, int(val))
+ else:
+ self.set_motor_handicap(0, 0)
+
def get_reset(self):
reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
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)