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, 16)
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
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")