Revision fcd68ec1
Fixed whitespace in motors node
| scout/motors/src/motors.cpp | ||
|---|---|---|
| 56 | 56 |
*/ |
| 57 | 57 |
Motor::Motor(int pwm_gpt, int in1_gpio, int in2_gpio) |
| 58 | 58 |
{
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char buf[60]; |
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|
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// open device files |
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sprintf(buf, "/dev/pwm%d", pwm_gpt); |
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fpwm.open(buf, ios::out); |
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio); |
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fin1.open(buf, ios::out); |
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio); |
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fin2.open(buf, ios::out); |
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|
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/* I set speed to 0 here rather than reading in what the current speed is |
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* because the pwm driver does not support seeking in the device files. Doing
|
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* both reading and writing causes fpwm to attempt seeking, which fails,
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* causing fpwm to refuse to do any more io. So, we can only write.
|
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*/ |
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speed = 0; |
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|
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// ensure we are in a consistent state by writing to hardware |
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set_speed(speed); |
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char buf[60];
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|
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// open device files
|
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sprintf(buf, "/dev/pwm%d", pwm_gpt);
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fpwm.open(buf, ios::out);
|
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio);
|
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fin1.open(buf, ios::out);
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio);
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fin2.open(buf, ios::out);
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|
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/* I set speed to 0 here rather than reading in what the current speed is
|
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* because the pwm driver does not support seeking in the device files.
|
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* Doing both reading and writing causes fpwm to attempt seeking, which
|
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* fails, causing fpwm to refuse to do any more io. So, we can only write.
|
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*/
|
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speed = 0;
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|
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// ensure we are in a consistent state by writing to hardware
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set_speed(speed);
|
|
| 78 | 78 |
} |
| 79 | 79 |
|
| 80 | 80 |
/** |
| ... | ... | |
| 94 | 94 |
*/ |
| 95 | 95 |
int Motor::get_speed() |
| 96 | 96 |
{
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return speed; |
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return speed;
|
|
| 98 | 98 |
} |
| 99 | 99 |
|
| 100 | 100 |
/** |
| ... | ... | |
| 106 | 106 |
*/ |
| 107 | 107 |
void Motor::set_speed(int new_speed) |
| 108 | 108 |
{
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int pwm, in1, in2; |
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|
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speed = new_speed; |
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|
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// convert to hardware units |
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if (speed == 0) |
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{
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/// @todo should this be off (00) or short brake (11)? |
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pwm = 0; |
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in1 = 0; |
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in2 = 0; |
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} |
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else if (speed > 0) |
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{
|
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// CW |
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pwm = speed; |
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in1 = 1; |
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in2 = 0; |
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} |
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else |
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{
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// CCW |
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pwm = -speed; |
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in1 = 0; |
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in2 = 1; |
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} |
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|
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// write to hardware |
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fpwm << pwm << flush; |
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fin1 << in1 << flush; |
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fin2 << in2 << flush; |
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int pwm, in1, in2;
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|
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speed = new_speed;
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|
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// convert to hardware units
|
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if (speed == 0)
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{
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/// @todo should this be off (00) or short brake (11)?
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pwm = 0;
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in1 = 0;
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in2 = 0;
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}
|
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else if (speed > 0)
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{
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// CW
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pwm = speed;
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in1 = 1;
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in2 = 0;
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}
|
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else
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{
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// CCW
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pwm = -speed;
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in1 = 0;
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in2 = 1;
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}
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|
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// write to hardware
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fpwm << pwm << flush;
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fin1 << in1 << flush;
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fin2 << in2 << flush;
|
|
| 140 | 140 |
} |
| 141 | 141 |
|
| 142 | 142 |
/// @todo change these to the correct motor locations / directions |
| ... | ... | |
| 158 | 158 |
{
|
| 159 | 159 |
if(msg->fl_set) |
| 160 | 160 |
{
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motor_fl.set_speed(msg->fl_speed); |
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motor_fl.set_speed(msg->fl_speed);
|
|
| 162 | 162 |
} |
| 163 | 163 |
if(msg->fr_set) |
| 164 | 164 |
{
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motor_fr.set_speed(msg->fr_speed); |
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motor_fr.set_speed(msg->fr_speed);
|
|
| 166 | 166 |
} |
| 167 | 167 |
if(msg->bl_set) |
| 168 | 168 |
{
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motor_bl.set_speed(msg->bl_speed); |
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motor_bl.set_speed(msg->bl_speed);
|
|
| 170 | 170 |
} |
| 171 | 171 |
if(msg->br_set) |
| 172 | 172 |
{
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motor_br.set_speed(msg->br_speed); |
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motor_br.set_speed(msg->br_speed);
|
|
| 174 | 174 |
} |
| 175 | 175 |
|
| 176 | 176 |
ROS_DEBUG("Motor speeds set");
|
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