X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=b4bb8ebbf1e4671e347faacd16c088aad9c613fd;hp=3d3adefb058a7d15d1bd70b6352004f187ecf018;hb=7407e894ef07408064eb1eeff0a4c4901dcd91f4;hpb=163e9fecf7bd83c737bd68b717ae47d174e93e12

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 3d3adef..b4bb8eb 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,6 +65,7 @@ class MoveBase:
 		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.cur_vel = (0, 0)
 		self.bMotorManual = False
 		self.set_speed(0, 0)
 		rospy.loginfo("Init done")
@@ -96,6 +97,7 @@ class MoveBase:
 			i+=1
 			if self.cmd_vel != None:
 				self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+				self.cur_vel = self.cmd_vel
 				self.cmd_vel = None
 			rate.sleep()
 
@@ -111,19 +113,21 @@ class MoveBase:
 		return config
 
 	def imuReceived(self, msg):
-		if self.rollover_protect:
+		if self.rollover_protect and any(self.cur_vel):
 			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 			if pitch > self.rollover_protect_limit*pi/180:
 				self.bMotorManual = True
-				i2c_write_reg(0x50, 0x3, struct.pack(">h", self.rollover_protect_pwm))
-				i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
+				i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
+				rospy.logwarn("Running forward rollver protection")
 			elif pitch < -self.rollover_protect_limit*pi/180:
 				self.bMotorManual = True
-				i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
-				i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
+				i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
+				rospy.logwarn("Running backward rollver protection")
 			elif self.bMotorManual:
 				i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
 				self.bMotorManual = False
+				self.cmd_vel = (0, 0)
+				rospy.logwarn("Rollver protection done")
 
 	def get_reset(self):
 		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]