self.volt_last_warn = rospy.Time.now()
rospy.loginfo("Init done")
i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
- self.pStripe = LPD8806(1, 0, 12)
+ self.pStripe = LPD8806(1, 0, 16)
rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
rospy.Subscriber("imu", Imu, self.imuReceived)
#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
self.get_motor_err()
self.get_odom()
- self.get_voltage()
+ self.get_power()
if ir_count == 0:
self.get_dist_left()
return config
def imuReceived(self, msg):
- if self.rollover_protect and any(self.cur_vel):
+ if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
if pitch > self.rollover_protect_limit*pi/180:
self.bMotorManual = True
msg.status.append(stat)
self.pub_diag.publish(msg)
- def get_voltage(self):
+ def get_power(self):
volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+ current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
msg = DiagnosticArray()
msg.header.stamp = rospy.Time.now()
stat = DiagnosticStatus()
- stat.name = "Voltage"
- stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
- stat.message = "%.2fV" % volt
+ stat.name = "Power"
+ stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
+ stat.message = "%.2fV, %.2fA" % (volt, current)
msg.status.append(stat)
self.pub_diag.publish(msg)
- current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
-
if self.pub_battery.get_num_connections() > 0:
batmsg = BatteryState()
batmsg.header.stamp = rospy.Time.now()