X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4;hp=7fdf0444aead981ff55cedb43609cc122f75e001;hb=8786ef14dfb5b65efa0a260d91e569aa819aac14;hpb=390d3bf8a69f3cd23dae064db94865d3a38fe948;ds=sidebyside

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7fdf044..3d1c972 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -64,9 +64,11 @@ class MoveBase:
 		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("led_stripe", LedStripe, self.led_stripe_received)
 		self.run()
 	
@@ -78,7 +80,7 @@ class MoveBase:
 		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:
@@ -93,6 +95,24 @@ class MoveBase:
 				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)
+
+	def imuReceived(self, msg):
+		(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+		if pitch > 30*pi/180:
+			val = (100.0/60)*abs(pitch)*180/pi
+			self.set_motor_handicap(int(val), 0)
+		elif pitch < -30*pi/180:
+			val = (100.0/60)*abs(pitch)*180/pi
+			self.set_motor_handicap(0, int(val))
+		else:
+			self.set_motor_handicap(0, 0)
+
 	def get_reset(self):
 		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 
@@ -121,7 +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()
@@ -131,10 +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)