Revision 493cca7c
| ID | 493cca7c321081c9bdcb1cf72714506ef1310954 |
basic (not-yet-working) flight control via keyboard
| mikrokopter/CMakeLists.txt | ||
|---|---|---|
| 26 | 26 |
target_link_libraries(${PROJECT_NAME} serial)
|
| 27 | 27 |
|
| 28 | 28 |
rosbuild_add_executable(externctrl_client src/externctrl_client.cpp) |
| 29 |
rosbuild_add_executable(wasd_nav src/wasd_nav.cpp src/nav_lib.cpp) |
|
| 30 | 29 |
rosbuild_add_executable(keyboard_control src/keyboard_control.cpp src/nav_lib.cpp) |
| mikrokopter/launch/mikrokopter.launch | ||
|---|---|---|
| 2 | 2 |
|
| 3 | 3 |
<node name="mikrokopter" pkg="mikrokopter" type="mikrokopter"> |
| 4 | 4 |
|
| 5 |
<param name="port" value="/dev/ttyACM0" />
|
|
| 5 |
<param name="port" value="/dev/ttyUSB0" />
|
|
| 6 | 6 |
|
| 7 | 7 |
<param name="req_version_rate" value="0.0" /> |
| 8 | 8 |
<param name="req_version_addr" value="97" /> |
| mikrokopter/src/keyboard_control.cpp | ||
|---|---|---|
| 11 | 11 |
#include <termios.h> |
| 12 | 12 |
#include <stdio.h> |
| 13 | 13 |
|
| 14 |
#include "nav_lib.h" |
|
| 15 |
|
|
| 14 | 16 |
#define KEYCODE_R 0x43 |
| 15 | 17 |
#define KEYCODE_L 0x44 |
| 16 | 18 |
#define KEYCODE_U 0x41 |
| ... | ... | |
| 44 | 46 |
|
| 45 | 47 |
void KeyboardControl::keyLoop() |
| 46 | 48 |
{
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| 49 |
|
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| 50 |
ros::NodeHandle n; |
|
| 51 |
ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
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|
| 52 |
|
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| 53 |
mikrokopter::Control req; |
|
| 54 |
|
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| 55 |
ros::Rate loop_rate(25); |
|
| 56 |
|
|
| 47 | 57 |
char c; |
| 48 | 58 |
bool dirty=false; |
| 49 | 59 |
|
| ... | ... | |
| 77 | 87 |
{
|
| 78 | 88 |
case KEYCODE_L: |
| 79 | 89 |
case 'a': |
| 80 |
ROS_INFO("W");
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|
| 90 |
ROS_INFO("A");
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|
| 91 |
left(req); |
|
| 81 | 92 |
dirty = true; |
| 82 | 93 |
break; |
| 83 | 94 |
case KEYCODE_R: |
| 84 | 95 |
case 'd': |
| 85 |
ROS_INFO("E");
|
|
| 96 |
ROS_INFO("D");
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|
| 97 |
right(req); |
|
| 86 | 98 |
dirty = true; |
| 87 | 99 |
break; |
| 88 | 100 |
case KEYCODE_U: |
| 89 | 101 |
case 'w': |
| 90 |
ROS_INFO("N");
|
|
| 102 |
ROS_INFO("W");
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|
| 103 |
forward(req); |
|
| 91 | 104 |
dirty = true; |
| 92 | 105 |
break; |
| 93 | 106 |
case KEYCODE_D: |
| 94 | 107 |
case 's': |
| 95 |
ROS_INFO("S");
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|
| 108 |
ROS_INFO("B");
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|
| 109 |
backward(req); |
|
| 96 | 110 |
dirty = true; |
| 97 | 111 |
break; |
| 98 | 112 |
case 'r': |
| 99 | 113 |
ROS_INFO("UP");
|
| 114 |
//set_throttle(&pub, ); |
|
| 100 | 115 |
break; |
| 101 | 116 |
case 'f': |
| 102 | 117 |
ROS_INFO("DOWN");
|
| 118 |
//set_throttle(&pub); |
|
| 103 | 119 |
break; |
| 104 | 120 |
} |
| 105 | 121 |
|
| 106 | 122 |
if(dirty) |
| 107 | 123 |
{
|
| 124 |
pub.publish(req); |
|
| 125 |
ros::spinOnce(); |
|
| 108 | 126 |
dirty=false; |
| 109 | 127 |
} |
| 110 | 128 |
} |
| mikrokopter/src/nav_lib.cpp | ||
|---|---|---|
| 1 | 1 |
#include "nav_lib.h" |
| 2 | 2 |
|
| 3 |
void set_roll_pitch(ros::Publisher& pub, int roll, int pitch) {
|
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| 4 |
mikrokopter::Control req; |
|
| 3 |
|
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| 4 |
void init_control_msg(mikrokopter::Control& req) |
|
| 5 |
{
|
|
| 5 | 6 |
req.digital[0] = 0; |
| 6 | 7 |
req.digital[1] = 0; |
| 7 | 8 |
req.remoteKey = 0; |
| 8 |
req.pitch = roll;
|
|
| 9 |
req.roll = pitch;
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|
| 9 |
req.pitch = 0;
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|
| 10 |
req.roll = 0;
|
|
| 10 | 11 |
req.yaw = 0; |
| 11 | 12 |
req.thrust = 40; |
| 12 | 13 |
req.height = 0; |
| 13 | 14 |
req.free = 0; |
| 14 | 15 |
req.frame = 7; |
| 15 | 16 |
req.config = 1; |
| 16 |
pub.publish(req); |
|
| 17 |
ros::spinOnce(); |
|
| 18 | 17 |
} |
| 19 | 18 |
|
| 20 |
|
|
| 21 |
void forward(ros::Publisher& pub) |
|
| 19 |
void forward(mikrokopter::Control& req) |
|
| 22 | 20 |
{
|
| 23 |
set_roll_pitch(pub, -15, -15); |
|
| 21 |
req.roll = -15; |
|
| 22 |
req.pitch = -15; |
|
| 24 | 23 |
} |
| 25 | 24 |
|
| 26 |
void backward(ros::Publisher& pub)
|
|
| 25 |
void backward(mikrokopter::Control& req)
|
|
| 27 | 26 |
{
|
| 28 |
set_roll_pitch(pub, 15, 15); |
|
| 27 |
req.roll = 15; |
|
| 28 |
req.pitch = 15; |
|
| 29 | 29 |
} |
| 30 | 30 |
|
| 31 |
void left(ros::Publisher& pub)
|
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| 31 |
void left(mikrokopter::Control& req)
|
|
| 32 | 32 |
{
|
| 33 |
set_roll_pitch(pub, -15, 15); |
|
| 33 |
req.roll = -15; |
|
| 34 |
req.pitch = 15; |
|
| 34 | 35 |
} |
| 35 | 36 |
|
| 36 |
void right(ros::Publisher& pub)
|
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| 37 |
void right(mikrokopter::Control& req)
|
|
| 37 | 38 |
{
|
| 38 |
set_roll_pitch(pub, 15, -15); |
|
| 39 |
req.roll = 15; |
|
| 40 |
req.pitch = -15; |
|
| 39 | 41 |
} |
| 40 | 42 |
|
| 41 |
void stop(ros::Publisher& pub)
|
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| 43 |
void set_thrust(mikrokopter::Control& req, int thrust)
|
|
| 42 | 44 |
{
|
| 43 |
set_roll_pitch(pub, 0, 0);
|
|
| 45 |
req.thrust = thrust;
|
|
| 44 | 46 |
} |
| 47 |
|
|
| mikrokopter/src/nav_lib.h | ||
|---|---|---|
| 1 | 1 |
#include "ros/ros.h" |
| 2 | 2 |
#include "mikrokopter/Control.h" |
| 3 | 3 |
|
| 4 |
void forward(ros::Publisher& pub); |
|
| 5 |
void backward(ros::Publisher& pub); |
|
| 6 |
void left(ros::Publisher& pub); |
|
| 7 |
void right(ros::Publisher& pub); |
|
| 8 |
void stop(ros::Publisher& pub); |
|
| 4 |
void init_control_msg(mikrokopter::Control& req); |
|
| 5 |
void forward(mikrokopter::Control& req); |
|
| 6 |
void backward(mikrokopter::Control& req); |
|
| 7 |
void left(mikrokopter::Control& req); |
|
| 8 |
void right(mikrokopter::Control& req); |
|
| 9 |
void set_thrust(mikrokopter::Control& req, int thrust); |
|
| 10 |
|
|
| mikrokopter/src/wasd_nav.cpp | ||
|---|---|---|
| 1 |
#include "ros/ros.h" |
|
| 2 |
#include "mikrokopter/Control.h" |
|
| 3 |
#include "nav_lib.h" |
|
| 4 |
#include <cstdlib> |
|
| 5 |
|
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| 6 |
|
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| 7 |
int main(int argc, char **argv) |
|
| 8 |
{
|
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| 9 |
ros::init(argc, argv, "mikrokopter_externctrl_client"); |
|
| 10 |
|
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| 11 |
ros::NodeHandle n; |
|
| 12 |
ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
|
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| 13 |
|
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| 14 |
ros::Rate loop_rate(25); |
|
| 15 |
|
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| 16 |
printf("moving\n");
|
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| 17 |
forward(pub); |
|
| 18 |
|
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| 19 |
sleep(5); |
|
| 20 |
printf("evening out\n");
|
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| 21 |
stop(pub); |
|
| 22 |
|
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| 23 |
return 0; |
|
| 24 |
} |
|
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