Revision 6c9146d5
Began filling in ROSsy main function
scout_avr/src/main.cpp | ||
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#include "ros.h" |
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#include "bom.h" |
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#include "range.h" |
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#include <std_msgs/Int16.h> |
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#include "stepper.h" |
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#include <std_msgs/Int16.h> // TODO remove |
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#include <bom/bom.h> |
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#include <sonar/sonar_distance.h> |
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#include <sonar/sonar_toggle.h> |
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#include <sonar/sonar_set_scan.h> |
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#include <util/delay.h> |
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ros::Publisher *pbom_pub; |
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/* Period of main loop in ms */ |
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#define MAINLOOP_PERIOD 50 |
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char range_enabled = 0; |
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void debug(const char *str) |
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{ |
... | ... | |
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{ |
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} |
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/* dammit, Priya, this capitalization just looks ridiculous */ |
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void range_toggle_cb(const sonar::sonar_toggleRequest& req, |
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sonar::sonar_toggleResponse& resp) |
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{ |
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range_enabled = req.set_on; |
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resp.ack = true; |
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} |
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void range_set_scan_cb(const sonar::sonar_set_scanRequest& req, |
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sonar::sonar_set_scanResponse& resp) |
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{ |
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step_sweep_bounds(req.stop_l, req.stop_r); |
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resp.ack = true; |
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} |
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int main() |
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{ |
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unsigned long now, next; |
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unsigned int ranges[2]; |
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char i, id; |
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ros::NodeHandle nh; |
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bom::bom bom_msg; |
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ros::Subscriber<std_msgs::Int16> test_in("test_in", callback); |
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ros::Publisher bom_pub("bom", &bom_msg); |
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nh.initNode(); |
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pbom_pub = &bom_pub; |
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/* To be removed later; just an example of a subscirber */ |
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ros::Subscriber<std_msgs::Int16> test_in("test_in", callback); |
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nh.subscribe(test_in); |
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nh.initNode();
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/* Range */
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range_init(); |
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sonar::sonar_distance range_msg; |
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ros::Publisher range_distance("sonar_distance", &range_msg); |
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ros::ServiceServer |
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<sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
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range_toggle("sonar_toggle", range_toggle_cb); |
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ros::ServiceServer |
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<sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
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range_set_scan("sonar_set_scan", range_set_scan_cb); |
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/* BOM */ |
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bom_init(); |
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nh.subscribe(test_in); |
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bom::bom bom_msg; |
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ros::Publisher bom_pub("bom", &bom_msg); |
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nh.advertise(bom_pub); |
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id = 0; |
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next = 0; |
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while (1) |
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{ |
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nh.spinOnce(); |
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/* Skip loop if the loop period hasn't passed yet */ |
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/* TODO if we need more exact timing, we can enter a tight loop when now |
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* gets close to next, and avoid the uncertainty of nh.spinOnce() */ |
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now = nh.getHardware()->time(); |
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if (now < next) { |
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continue; |
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} |
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next = now + MAINLOOP_PERIOD; |
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/* Temporary, for BOM testing */ |
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id++; |
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if (id == 0x40) { |
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id = 0; |
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} |
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set_robot_id(id); |
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bom_send(id & 1); |
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/* BOM */ |
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for (i = 0; i < 4; i++) { |
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int msg = bom_get(i); |
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if (msg != BOM_NO_DATA) { |
... | ... | |
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} |
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} |
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nh.spinOnce(); |
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_delay_ms(500); |
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/* Stepper / range sensor */ |
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// TODO sweep stepper |
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range_measure(ranges); |
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range_msg.header.stamp = nh.now(); |
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range_msg.header.seq++; |
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range_msg.pos = 0; // TODO fill this |
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range_msg.distance0 = ranges[0]; |
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range_msg.distance1 = ranges[1]; |
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} |
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return 0; |
... | ... | |
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#include "Atmega128rfa1.h" |
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#include "range.h" |
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#include "bom.h" |
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#include "stepper.h" |
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Atmega128rfa1 avr; |
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... | ... | |
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avr.init(); |
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range_init(); |
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bom_init(); |
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func step_sweep_cb = step_init(10); |
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step_sweep_bounds(-26, 26); |
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step_dir(1); |
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step_sweep_speed(50); |
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avr.puts("Hello!\r\n"); |
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while (1) |
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{ |
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now = avr.time(); |
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step_sweep_cb(); |
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_delay_ms(10); |
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/*now = avr.time(); |
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if (now > next) { |
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next = now + 500; |
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next = now + 50;*/ |
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//step_sweep_cb(); |
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/*ultoa(now, buf, 10); |
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avr.puts(buf); |
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avr.puts("\r\n");*/ |
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id++; |
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/*id++;
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if (id == 0x40) { |
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id = 0; |
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} |
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set_robot_id(id); |
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set_robot_id(id);*/
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/*utoa(range_get(0), buf, 10); |
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avr.puts("Range: "); |
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avr.puts(buf); |
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avr.puts(", "); |
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utoa(range_get(1), buf, 10); |
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avr.puts(buf);*/ |
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for (i = 0; i < 4; i++) { |
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/*for (i = 0; i < 4; i++) {
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bom_send(i); |
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int msg = bom_get(i); |
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if (msg != BOM_NO_DATA) { |
... | ... | |
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avr.puts(buf); |
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avr.puts(")\r\n"); |
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} |
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} |
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} |
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}*/
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//}
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} |
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return 0; |
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} |
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