X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=6006f9562bef641e510005c84676553ac6c52801;hp=8589156bcf517d75aabea58ac16f5e33f62d3ec4;hb=4b090b45eb6d10571944874b8b23921f96a9db54;hpb=a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 8589156..6006f95 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -74,7 +74,7 @@ class WTBase:
 		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)
+		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)
@@ -94,7 +94,7 @@ class WTBase:
 			#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()
@@ -138,7 +138,7 @@ class WTBase:
 		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
@@ -206,15 +206,16 @@ class WTBase:
 		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)
@@ -223,7 +224,7 @@ class WTBase:
 			batmsg = BatteryState()
 			batmsg.header.stamp = rospy.Time.now()
 			batmsg.voltage = volt
-			batmsg.current = float('nan')
+			batmsg.current = current
 			batmsg.charge = float('nan')
 			batmsg.capacity = float('nan')
 			batmsg.design_capacity = 5.0