Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file libmotors.cpp

 * @brief Contains motor declarations and functions

 * 

 * Contains functions and definitions for the use of

 * motors

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "libmotors.h"

/* ROS node created in libscout.cpp */

extern ros::NodeHandle node;

/** ROS publisher and client declaration */

ros::Publisher set_motors_publisher;

ros::ServiceClient query_motors_client;

/**

 * @brief Initialize the motors module of libscout.

 *

 * Initialize the libscout node as a publisher of set_motors and a client of

 * query_motors.

 */

void libmotors_init()

{

    set_motors_publisher =

        node.advertise<motors::set_motors>("set_motors", QUEUE_SIZE);

    query_motors_client =

        node.serviceClient<motors::query_motors>("query_motors");

}

/**

 * @brief Sets all the speeds according to the specificiation of which motors

 *        to set.

 *

 * @param which A bitmask of which motors need to be set.

 * @param speed The value to set the motors to.

 * @param units The units the speed is expressed in.

 * @return Function status

 */

int motors_set(int which, float speed, char units)

{

    float speed_fl, speed_fr, speed_bl, speed_br;

    speed_fl = speed_fr = speed_bl = speed_br = speed;

    if(which & MOTOR_FL_REV)

    {

        speed_fl = -speed;

    }

    if(which & MOTOR_FR_REV)

    {

        speed_fr = -speed;

    }

    if(which & MOTOR_BL_REV)

    {

        speed_bl = -speed;

    }

    if(which & MOTOR_BR_REV)

    {

        speed_br = -speed;

    }

    return motors_set_each(which, speed_fl, speed_fr, speed_bl, speed_br,

                           units);

}

/**

 * @brief Sets the left and right sides of scout to different speeds.

 *

 * @param speed_l The speed of both left motors.

 * @param speed_r The speed of both right motors.

 * @param units The units to set to.

 * @return Function status

 */

int motors_set_sides(float speed_l, float speed_r, char units)

{

    return motors_set_each(MOTOR_ALL, speed_l, speed_r, speed_l, speed_r,

                               units);

}

/**

 * @brief Set motor speeds

 * Sets the speeds of the motors as a percentage of top speed. Can selectively

 * select which motors to set, and which to remain at previous speed.

 *

 * @param which A bitmask of which motors should be set.

 * @param speed The speed the motors should be set to.

 * @param units Optional units for the speeds.

 * @return Function status

 */

int motors_set_each(int which,

                    float speed_fl, float speed_fr,

                    float speed_bl, float speed_br,

                    char units)

{

    check_which_ok(which);

    motors::set_motors msg;

    if(!ros::ok())

    {

        return LIB_ERROR;

    }

    /* Set all the speeds (the booleans in the set_motors message determine

     * which ones will be used) */

    msg.fl_speed = speed_fl;

    msg.fr_speed = speed_fr;

    msg.bl_speed = speed_bl;

    msg.br_speed = speed_br;

    /* Tell the motors node which motors need to be updated */

    msg.fl_set = msg.fr_set = msg.bl_set = msg.br_set = false;

    if(which & (MOTOR_FL | MOTOR_FL_REV))

    {

        msg.fl_set = true;

    }

    if(which & (MOTOR_FR | MOTOR_FR_REV))

    {

        msg.fr_set = true;

    }

    if(which & (MOTOR_BL | MOTOR_BL_REV))

    {

        msg.bl_set = true;

    }

    if(which & (MOTOR_BR | MOTOR_BR_REV))

    {

        msg.br_set = true;

    }

    /* Specify which units the speeds are given in */

    msg.units = units;

    /* Publishes message to set_motors topic */

    set_motors_publisher.publish(msg);

    ros::spinOnce();

    return LIB_OK;

}

/**

 * Double-checks the which variable to make sure the front and back

 * bits are not both set for a single motor.

 *

 * @param which The which motor specfication to check.

 */

void check_which_ok(int which)

{

    ROS_WARN_COND( ((which & MOTOR_FL) && (which & MOTOR_FL_REV)),

        "FL Motor set in both directions!");

    ROS_WARN_COND( ((which & MOTOR_FR) && (which & MOTOR_FR_REV)),

        "FR Motor set in both directions!");

    ROS_WARN_COND( ((which & MOTOR_BL) && (which & MOTOR_BL_REV)),

        "BL Motor set in both directions!");

    ROS_WARN_COND( ((which & MOTOR_BR) && (which & MOTOR_BR_REV)),

        "BR Motor set in both directions!");

}

/**

 * @brief Query the current speeds of the motors

 *

 * Sends a request to the query_motors service which will reply with the

 *  current speed of each motor.

 *

 * @todo Change so we can get multiple motor speeds with one call

 *

 * @param which A bitmask that will specify which motor speed should be

 *  returned

 * @return The speed of the selected motor, or LIB_ERR if no motor selected

 */

float motors_query(int which)

{

    motors::query_motors srv;

    if(query_motors_client.call(srv))

    {

        switch(which)

        {

            case MOTOR_FL:

                return srv.response.fl_speed;

            case MOTOR_FR:

                return srv.response.fr_speed;

            case MOTOR_BL:

                return srv.response.bl_speed;

            case MOTOR_BR:

                return srv.response.br_speed;

            default:

                ROS_WARN("Bad WHICH in motors_query.");

                return LIB_ERROR;

        }

    }

    else

    {

        ROS_ERROR("Failed to call service query_motors");

        return LIB_ERROR;

    }

    return 0;

}