X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fmove_base.py;h=5ece2683f6d0ad31cee0dd0cebfd9efdb95b26e2;hp=6886ec0cbfd69a303bcea8ff482c6aa61397ba2d;hb=6bbe85b249210dd265f51cfde4288530d9bb05fb;hpb=34bae39fabd9b44e1d169087e8d18d542f4f1525

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6886ec0..5ece268 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -3,7 +3,7 @@
 
 import rospy
 import struct
-from i2c import i2c
+from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 
@@ -15,13 +15,24 @@ class MoveBase:
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
 		self.set_speed(0, 0)
 		rospy.loginfo("Init done")
+		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
 		self.run()
 	
 	def run(self):
-		rate = rospy.Rate(10.0)
+		rate = rospy.Rate(20.0)
 		while not rospy.is_shutdown():
+			self.get_pos()
+			#self.get_dist_forward()
+			#self.get_dist_backward()
+			#self.get_dist_left()
+			#self.get_dist_right()
 			rate.sleep()
 
+	def get_pos(self):
+		s = i2c_read_reg(0x50, 0x10, 8)
+		hall1, hall2, hall3, hall4 = struct.unpack(">hhhh", s)
+		print hall1, hall2, hall3, hall4
+
 	def set_speed(self, left, right):
 		if left > 0: left+=80
 		elif left < 0: left-=80
@@ -33,10 +44,7 @@ class MoveBase:
 		if right > 255: right=255
 		elif right < -255: right=-255
 
-		dev = i2c(0x56)
-		s = struct.pack(">Bhh", 0x1, left, right)
-		dev.write(s)
-		dev.close()
+		i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", right, right, left, left))
 
 	def cmdVelReceived(self, msg):
 		trans = msg.linear.x
@@ -46,6 +54,48 @@ class MoveBase:
 		left = trans*2-right
 		self.set_speed(left, right)
 
+	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
+	def get_dist_ir(self, num):
+		dev = i2c(0x52)
+		s = struct.pack("B", num)
+		dev.write(s)
+		dev.close()
+
+		sleep(2e-6)
+
+		dev = i2c(0x52)
+		s = dev.read(2)
+		dev.close()
+
+		val = struct.unpack(">H", s)[0]
+		return 15221/(val - -276.42)/100;
+	
+	def get_dist_srf(self, num):
+		dev = i2c(0x52)
+		s = struct.pack("B", num)
+		dev.write(s)
+		dev.close()
+
+		sleep(50e-3)
+
+		dev = i2c(0x52)
+		s = dev.read(2)
+		dev.close()
+
+		return struct.unpack(">H", s)[0]/1000.0
+
+	def get_dist_left(self):
+		dist = self.get_dist_ir(0x1)
+
+	def get_dist_right(self):
+		 dist = self.get_dist_ir(0x3)
+
+	def get_dist_forward(self):
+		dist = self.get_dist_srf(0x5)
+
+	def get_dist_backward(self):
+		dist = self.get_dist_srf(0x7)
+
 
 if __name__ == "__main__":
 	MoveBase()