import struct
import prctl
import spidev
-from i2c import *
+from time import sleep
+from i2c import i2c, i2c_write_reg, i2c_read_reg
from math import *
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
+ 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()
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
self.get_dist_backward()
self.get_dist_right()
i+=1
+ if self.cmd_vel != None:
+ self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+ self.cmd_vel = None
rate.sleep()
- def set_motor_handicap(self, front, aft): # percent
- 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 = (100.0/65)*abs(pitch)*180/pi
- self.set_motor_handicap(int(val), 0)
- elif pitch < -30*pi/180:
- val = (100.0/65)*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]
stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
stat.message = "0x%02x" % reset
- stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
- stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
- stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
- stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+ wdrf = bool(reset & (1 << 3))
+ if wdrf: rospy.loginfo("Watchdog Reset")
+ borf = bool(reset & (1 << 2))
+ if borf: rospy.loginfo("Brown-out Reset Flag")
+ extrf = bool(reset & (1 << 1))
+ if extrf: rospy.loginfo("External Reset Flag")
+ porf = bool(reset & (1 << 0))
+ if porf: rospy.loginfo("Power-on Reset Flag")
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
+ stat.values.append(KeyValue("External Reset Flag", str(extrf)))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
msg.status.append(stat)
self.pub_diag.publish(msg)
def get_odom(self):
- posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
- speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
+ speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
current_time = rospy.Time.now()
# since all odometry is 6DOF we'll need a quaternion created from yaw
i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
def cmdVelReceived(self, msg):
- trans = msg.linear.x
- rot = msg.angular.z # rad/s
- self.set_speed(trans, rot)
+ self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
def get_dist_ir(self, num):
dev.close()
def read_dist_srf(self, num):
- dev = i2c(0x52)
- s = struct.pack("B", num)
- dev.write(s)
- dev.close()
-
- dev = i2c(0x52)
- s = dev.read(2)
- dev.close()
-
- return struct.unpack(">H", s)[0]/1000.0
+ return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
msg = Range()
def get_dist_left(self):
if self.pub_range_left.get_num_connections() > 0:
- dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
+ dist = self.get_dist_ir(0x1)
+ if dist > -67:
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
def get_dist_right(self):
if self.pub_range_right.get_num_connections() > 0:
- dist = 17.4/(self.get_dist_ir(0x3) - 69)
- self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
+ dist = self.get_dist_ir(0x3)
+ if dist > 69:
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
def get_dist_forward(self):
if self.pub_range_fwd.get_num_connections() > 0: