X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=b4bb8ebbf1e4671e347faacd16c088aad9c613fd;hp=781acfa593abd636ffb8d9d339026462c62da9d1;hb=7407e894ef07408064eb1eeff0a4c4901dcd91f4;hpb=69de58605413a7ab335413874ff9dd89f2b6e21a

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 781acfa..b4bb8eb 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,10 +65,11 @@ 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")
 		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("led_stripe", LedStripe, self.led_stripe_received)
@@ -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()
 
@@ -104,33 +106,28 @@ class MoveBase:
 		self.range_sensor_max = config["range_sensor_max"]
 		self.odom_covar_xy = config["odom_covar_xy"]
 		self.odom_covar_angle = config["odom_covar_angle"]
-		self.pitch_handicap_enable = config["pitch_handicap_enable"]
-		self.pitch_handicap_limit = config["pitch_handicap_limit"]
-		self.pitch_handicap_strength = 100-config["pitch_handicap_strength"]
-
-		if not self.pitch_handicap_enable:
-			self.set_motor_handicap(0, 0)
+		self.rollover_protect = config["rollover_protect"]
+		self.rollover_protect_limit = config["rollover_protect_limit"]
+		self.rollover_protect_pwm = config["rollover_protect_pwm"]
 
 		return config
 
-	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):
-		if self.pitch_handicap_enable:
+		if self.rollover_protect and any(self.cur_vel):
 			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
-			if pitch > self.pitch_handicap_limit*pi/180:
-				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
-				self.set_motor_handicap(int(val), 0)
-			elif pitch < -self.pitch_handicap_limit*pi/180:
-				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
-				self.set_motor_handicap(0, int(val))
-			else:
-				self.set_motor_handicap(0, 0)
+			if pitch > self.rollover_protect_limit*pi/180:
+				self.bMotorManual = True
+				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(">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]
@@ -244,9 +241,10 @@ class MoveBase:
 		i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
 	def cmdVelReceived(self, msg):
-		rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
-		self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
-		rospy.logdebug("Set new cmd_vel done")
+		if not self.bMotorManual:
+			rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+			self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
+			rospy.logdebug("Set new cmd_vel done")
 
 	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 	def get_dist_ir(self, num):