X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=a5978b032850342b1a0e3ad04e03f72a408ba584;hp=7fdf0444aead981ff55cedb43609cc122f75e001;hb=83ad498c34bd5ccdc12d98ebc59e8a5b3a5165b2;hpb=390d3bf8a69f3cd23dae064db94865d3a38fe948

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7fdf044..a5978b0 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()
 	
@@ -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]