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 a5978b032850342b1a0e3ad04e03f72a408ba584..3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -68,7 +68,7 @@ class MoveBase:
                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()
        
@@ -80,7 +80,7 @@ class MoveBase:
                i = 0
                while not rospy.is_shutdown():
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
-                       self.get_tle_err()
+                       self.get_motor_err()
                        self.get_odom()
                        self.get_voltage()
                        if i % 2:
@@ -141,7 +141,7 @@ class MoveBase:
                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()
@@ -151,10 +151,16 @@ class MoveBase:
                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)