Activate rollover protection only when moving and default to max pwm

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 2aa98a24b78d416da53ef8616dde5463eaf31628..b4bb8ebbf1e4671e347faacd16c088aad9c613fd 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,14 +65,15 @@ class MoveBase:
                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.cur_vel = (0, 0)
+               self.bMotorManual = False
                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)
+               rospy.Subscriber("imu", Imu, self.imuReceived)
                self.run()
        
        def run(self):
@@ -96,6 +97,7 @@ class MoveBase:
                        i+=1
                        if self.cmd_vel != None:
                                self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+                               self.cur_vel = self.cmd_vel
                                self.cmd_vel = None
                        rate.sleep()
 
@@ -104,25 +106,28 @@ class MoveBase:
                self.range_sensor_max = config["range_sensor_max"]
                self.odom_covar_xy = config["odom_covar_xy"]
                self.odom_covar_angle = config["odom_covar_angle"]
-               return config
+               self.rollover_protect = config["rollover_protect"]
+               self.rollover_protect_limit = config["rollover_protect_limit"]
+               self.rollover_protect_pwm = config["rollover_protect_pwm"]
 
-       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)
+               return config
 
        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)
+               if self.rollover_protect and any(self.cur_vel):
+                       (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+                       if pitch > self.rollover_protect_limit*pi/180:
+                               self.bMotorManual = True
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
+                               rospy.logwarn("Running forward rollver protection")
+                       elif pitch < -self.rollover_protect_limit*pi/180:
+                               self.bMotorManual = True
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
+                               rospy.logwarn("Running backward rollver protection")
+                       elif self.bMotorManual:
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
+                               self.bMotorManual = False
+                               self.cmd_vel = (0, 0)
+                               rospy.logwarn("Rollver protection done")
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -236,9 +241,10 @@ class MoveBase:
                i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
        def cmdVelReceived(self, msg):
-               rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
-               self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
-               rospy.logdebug("Set new cmd_vel done")
+               if not self.bMotorManual:
+                       rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+                       self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
+                       rospy.logdebug("Set new cmd_vel done")
 
        # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
        def get_dist_ir(self, num):