from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from dynamic_reconfigure.server import Server
from sensor_msgs.msg import Imu, Range, BatteryState
-from wild_thumper.msg import LedStripe
from wild_thumper.cfg import WildThumperConfig
WHEEL_DIST = 0.248
-class LPD8806:
- def __init__(self, bus, device, num_leds):
- self.spi = spidev.SpiDev()
- self.spi.open(bus, device)
- self.spi.mode=0b00
- self.spi.max_speed_hz=int(2e6)
- self.num_leds = num_leds
- self.latch()
- self.l = [(0, 0, 0)] * num_leds
- self.update()
-
- def set(self, i, red=0, green=0, blue=0):
- if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
- raise Exception("Bad RGB Value")
- self.l[i] = (red, green, blue)
-
- def latch(self):
- self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
-
- def update(self):
- l = []
- for i in range(self.num_leds):
- red, green, blue = self.l[i]
- l.append(0x80 | green)
- l.append(0x80 | red)
- l.append(0x80 | blue)
- self.spi.writebytes(l)
- self.latch()
-
class WTBase:
def __init__(self):
rospy.init_node('wild_thumper')
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)
rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
- rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
rospy.Subscriber("imu", Imu, self.imuReceived)
self.bDocked = False
self.bDocked_last = False
#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()
rospy.logerr("Voltage critical: %.2fV" % (volt))
self.volt_last_warn = rospy.Time.now()
- self.bDocked = volt > 10
+ self.bDocked = volt > 10.1
def get_odom(self):
if self.pub_range_fwd_right.get_num_connections() > 0:
self.start_dist_srf(0xb)
- def led_stripe_received(self, msg):
- for led in msg.leds:
- self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
- self.pStripe.update()
-
def check_docked(self):
if self.bDocked and not self.bDocked_last:
rospy.loginfo("Docking event")