root / scout / libscout / src / MotorControl.h @ 2fd5122a
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file MotorControl.h
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* @brief Contains motor declarations and functions
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*
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* Contains functions and definitions for the use of
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* motors
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*
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* @author Colony Project, CMU Robotics Club
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* @author Ben Wasserman
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* @author Alex Zirbel
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**/
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#ifndef _MOTOR_CONTROL_H_
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#define _MOTOR_CONTROL_H_
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#include <ros/ros.h> |
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#include <motors/query_motors.h> |
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#include <motors/set_motors.h> |
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#include "constants.h" |
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/* Motor-specific defines */
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#define MOTOR_ALL 0xF |
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#define MOTOR_ALL_REV 0xF0 |
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#define MOTOR_NONE 0x0 |
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#define MOTOR_FL 0x8 |
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#define MOTOR_FR 0x4 |
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#define MOTOR_BL 0x2 |
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#define MOTOR_BR 0x1 |
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#define MOTOR_FL_REV 0x80 |
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#define MOTOR_FR_REV 0x40 |
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#define MOTOR_BL_REV 0x20 |
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#define MOTOR_BR_REV 0x10 |
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#define MOTOR_FRONT MOTOR_FL | MOTOR_FR
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#define MOTOR_BACK MOTOR_BR | MOTOR_BR
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#define MOTOR_LEFT MOTOR_FL | MOTOR_BL
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#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR
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#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV
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#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV
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#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
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#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
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#define MAXSPEED_ABS 127.0f |
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#define MAXSPEED_MPS 1.0f |
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#define MOTOR_PERCENT 'p' |
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#define MOTOR_MMS 'm' |
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#define MOTOR_CMS 'c' |
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#define MOTOR_ABSOLUTE 'a' |
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#define MOTOR_DEFAULT_UNIT MOTOR_PERCENT
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class MotorControl |
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{ |
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public:
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/** Set up the motor node and prepare to communicate over ROS */
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MotorControl(const ros::NodeHandle& libscout_node,
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std::string scoutname); |
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~MotorControl(); |
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/** Uses which to specify what to change, and sets all to same speed */
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void set(int which, float speed, char units=MOTOR_DEFAULT_UNIT); |
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/** Sets each side to a different speed */
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void set_sides(float speed_l, float speed_r, |
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char units=MOTOR_DEFAULT_UNIT);
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/** Sets each motor speed individually */
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void set_each(int which, |
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float speed_fl, float speed_fr, |
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float speed_bl, float speed_br, |
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char units=MOTOR_DEFAULT_UNIT);
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/** Requests the current motor speeds */
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float query(int which); |
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private:
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/** Error if which sets a motor to both forward and backward */
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void check_which_ok(int which); |
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int trim_speed(std::string which_str, int speed); |
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float rel_to_abs(float rel_speed, int units); |
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float abs_to_rel(float abs_speed, int units); |
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/* Absolute speeds, but allowing fractions. Useful for PID, etc. */
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float motor_fl_speed;
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float motor_fr_speed;
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float motor_bl_speed;
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float motor_br_speed;
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/** ROS publisher and client declaration */
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ros::Publisher set_motors_pub; |
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ros::ServiceClient query_motors_client; |
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ros::NodeHandle node; |
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}; |
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#endif
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