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 3d3adefb058a7d15d1bd70b6352004f187ecf018..b4bb8ebbf1e4671e347faacd16c088aad9c613fd 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,6 +65,7 @@ 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.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")
                self.bMotorManual = False
                self.set_speed(0, 0)
                rospy.loginfo("Init done")


@@ -96,6 +97,7 @@ class MoveBase:
                        i+=1
                        if self.cmd_vel != None:
                                self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
                        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()
 
                                self.cmd_vel = None
                        rate.sleep()
 


@@ -111,19 +113,21 @@ class MoveBase:
                return config
 
        def imuReceived(self, msg):
                return config
 
        def imuReceived(self, msg):

-               if self.rollover_protect:
+               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
                        (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, 0x3, struct.pack(">h", self.rollover_protect_pwm))
-                               i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
+                               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
                        elif pitch < -self.rollover_protect_limit*pi/180:
                                self.bMotorManual = True

-                               i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
-                               i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
+                               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
                        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]
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]