X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4;hp=2672fed1d2bc636bb4ca3b7f40bed22e3e2f0b54;hb=8786ef14dfb5b65efa0a260d91e569aa819aac14;hpb=9349f21c7fb8f1629fe4154cc054fc894a9e600d

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 2672fed..3d1c972 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -61,24 +61,26 @@ class MoveBase:
 		self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
 		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.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("imu", Imu, self.imuReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		self.run()
 	
 	def run(self):
 		rate = rospy.Rate(20.0)
+		sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
 		reset_val = self.get_reset()
 		rospy.loginfo("Reset Status: 0x%x" % reset_val)
 		i = 0
 		while not rospy.is_shutdown():
 			#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
-			self.get_tle_err()
+			self.get_motor_err()
 			self.get_odom()
 			self.get_voltage()
 			if i % 2:
@@ -88,9 +90,14 @@ class MoveBase:
 				self.get_dist_backward()
 				self.get_dist_right()
 			i+=1
+			if self.cmd_vel != None:
+				self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+				self.cmd_vel = None
 			rate.sleep()
 
 	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)
@@ -98,10 +105,10 @@ class MoveBase:
 	def imuReceived(self, msg):
 		(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 		if pitch > 30*pi/180:
-			val = (100.0/65)*abs(pitch)*180/pi
+			val = (100.0/60)*abs(pitch)*180/pi
 			self.set_motor_handicap(int(val), 0)
 		elif pitch < -30*pi/180:
-			val = (100.0/65)*abs(pitch)*180/pi
+			val = (100.0/60)*abs(pitch)*180/pi
 			self.set_motor_handicap(0, int(val))
 		else:
 			self.set_motor_handicap(0, 0)
@@ -134,7 +141,7 @@ class MoveBase:
 		return reset
 
 
-	def get_tle_err(self):
+	def get_motor_err(self):
 		err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 		
 		msg = DiagnosticArray()
@@ -144,10 +151,16 @@ class MoveBase:
 		stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
 		stat.message = "0x%02x" % err
 
-		stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
-		stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
-		stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
-		stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+		# Diag
+		stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+		stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+		stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+		stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+		# Stall
+		stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+		stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+		stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+		stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
@@ -167,8 +180,7 @@ class MoveBase:
 
 
 	def get_odom(self):
-		posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
-		speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
+		speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
 		current_time = rospy.Time.now()
 
 		# since all odometry is 6DOF we'll need a quaternion created from yaw
@@ -218,9 +230,7 @@ class MoveBase:
 		i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
 	def cmdVelReceived(self, msg):
-		trans = msg.linear.x
-		rot = msg.angular.z # rad/s
-		self.set_speed(trans, rot)
+		self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 
 	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 	def get_dist_ir(self, num):