Revert "wt_node: Transision from 4x TLE5205 to 2x VNH2SP30"
[ros_wild_thumper.git] / scripts / wt_node.py
index 7fdf044..a5978b0 100755 (executable)
@@ -64,9 +64,11 @@ class MoveBase:
                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()
        
@@ -93,6 +95,24 @@ class MoveBase:
                                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]