rollover protection: replace handicap with reverse motor

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 27f3365477d286699151f7ac0a47182a87efec74..768363a9d3e82d2bff712e4db1036ab8182514b6 100755 (executable)
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -8,8 +8,8 @@ gen.add("range_sensor_clip",    bool_t,         0, "Clip range sensor values to max range"
 gen.add("range_sensor_max",    double_t,       0, "Range sensor max range", 0.5, 0.4, 4)
 gen.add("odom_covar_xy",       double_t,       0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
 gen.add("odom_covar_angle",    double_t,       0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
 gen.add("range_sensor_max",    double_t,       0, "Range sensor max range", 0.5, 0.4, 4)
 gen.add("odom_covar_xy",       double_t,       0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
 gen.add("odom_covar_angle",    double_t,       0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)

-gen.add("pitch_handicap_enable",bool_t,                0, "Enable motor handicap on pitch", True)
-gen.add("pitch_handicap_limit",        double_t,       0, "Pitch handicap limit (degree)", 40, 0, 90)
-gen.add("pitch_handicap_strength",double_t,    0, "Pitch handicap limit strength", 99, 0, 99)
+gen.add("rollover_protect",    bool_t,         0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t,     0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm",        double_t,       0, "Pitch rollover protection speed (pwm)", 100, 0, 255)

 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 781acfa593abd636ffb8d9d339026462c62da9d1..3d3adefb058a7d15d1bd70b6352004f187ecf018 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,10 +65,10 @@ 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.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.bMotorManual = False

                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                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)
                self.pStripe = LPD8806(1, 0, 12)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)


@@ -104,33 +104,26 @@ 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.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
 
 
                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):
        def imuReceived(self, msg):

-               if self.pitch_handicap_enable:
+               if self.rollover_protect:

                        (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
                        (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, 0x3, struct.pack(">h", self.rollover_protect_pwm))
+                               i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
+                       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))
+                       elif self.bMotorManual:
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
+                               self.bMotorManual = False

 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]


@@ -244,9 +237,10 @@ class MoveBase:
                i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
        def cmdVelReceived(self, msg):
                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):
 
        # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
        def get_dist_ir(self, num):