use esum to stop motor when stalling to avoid damage

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7fdf0444aead981ff55cedb43609cc122f75e001..3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -64,9 +64,11 @@ class MoveBase:
                self.cmd_vel = None
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                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)
                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()
        
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                self.run()
        


@@ -78,7 +80,7 @@ class MoveBase:
                i = 0
                while not rospy.is_shutdown():
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                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.get_odom()
                        self.get_voltage()
                        if i % 2:


@@ -93,6 +95,24 @@ class MoveBase:
                                self.cmd_vel = None
                        rate.sleep()
 
                                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]
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 


@@ -121,7 +141,7 @@ class MoveBase:
                return reset
 
 
                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()
                err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
                
                msg = DiagnosticArray()


@@ -131,10 +151,16 @@ class MoveBase:
                stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
                stat.message = "0x%02x" % err
 
                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)
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)