root / scout_avr / src / main.cpp @ 6c9146d5
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1 | 6e7f0a98 | Tom Mullins | #if 1 /////////////////////////////////////////////// |
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2 | 807483bf | Tom Mullins | |
3 | 49090532 | Tom Mullins | #include "ros.h" |
4 | 6e7f0a98 | Tom Mullins | #include "bom.h" |
5 | 47e26dee | Tom Mullins | #include "range.h" |
6 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
7 | #include <std_msgs/Int16.h> // TODO remove |
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8 | #include <bom/bom.h> |
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9 | #include <sonar/sonar_distance.h> |
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10 | #include <sonar/sonar_toggle.h> |
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11 | #include <sonar/sonar_set_scan.h> |
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12 | 47e26dee | Tom Mullins | #include <util/delay.h> |
13 | 88fb3a79 | Tom Mullins | |
14 | 6c9146d5 | Tom Mullins | /* Period of main loop in ms */
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15 | #define MAINLOOP_PERIOD 50 |
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16 | |||
17 | char range_enabled = 0; |
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18 | 49090532 | Tom Mullins | |
19 | 812788aa | Tom Mullins | void debug(const char *str) |
20 | { |
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21 | 31f4a032 | Tom Mullins | } |
22 | |||
23 | cf115e3d | Tom Mullins | void callback(const std_msgs::Int16& msg) |
24 | 49090532 | Tom Mullins | { |
25 | } |
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26 | |||
27 | 6c9146d5 | Tom Mullins | /* dammit, Priya, this capitalization just looks ridiculous */
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28 | void range_toggle_cb(const sonar::sonar_toggleRequest& req, |
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29 | sonar::sonar_toggleResponse& resp) |
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30 | { |
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31 | range_enabled = req.set_on; |
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32 | resp.ack = true;
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33 | } |
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34 | |||
35 | void range_set_scan_cb(const sonar::sonar_set_scanRequest& req, |
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36 | sonar::sonar_set_scanResponse& resp) |
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37 | { |
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38 | step_sweep_bounds(req.stop_l, req.stop_r); |
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39 | resp.ack = true;
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40 | } |
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41 | |||
42 | 49090532 | Tom Mullins | int main()
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43 | 88fb3a79 | Tom Mullins | { |
44 | 6c9146d5 | Tom Mullins | unsigned long now, next; |
45 | unsigned int ranges[2]; |
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46 | 6e7f0a98 | Tom Mullins | char i, id;
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47 | 6c9146d5 | Tom Mullins | |
48 | 88fb3a79 | Tom Mullins | ros::NodeHandle nh; |
49 | 6c9146d5 | Tom Mullins | nh.initNode(); |
50 | 49090532 | Tom Mullins | |
51 | 6c9146d5 | Tom Mullins | /* To be removed later; just an example of a subscirber */
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52 | ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
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53 | nh.subscribe(test_in); |
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54 | 88fb3a79 | Tom Mullins | |
55 | 6c9146d5 | Tom Mullins | /* Range */
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56 | 47e26dee | Tom Mullins | range_init(); |
57 | 6c9146d5 | Tom Mullins | sonar::sonar_distance range_msg; |
58 | ros::Publisher range_distance("sonar_distance", &range_msg);
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59 | ros::ServiceServer |
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60 | <sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
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61 | range_toggle("sonar_toggle", range_toggle_cb);
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62 | ros::ServiceServer |
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63 | <sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
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64 | range_set_scan("sonar_set_scan", range_set_scan_cb);
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65 | |||
66 | /* BOM */
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67 | 47e26dee | Tom Mullins | bom_init(); |
68 | 6c9146d5 | Tom Mullins | bom::bom bom_msg; |
69 | ros::Publisher bom_pub("bom", &bom_msg);
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70 | 6e7f0a98 | Tom Mullins | nh.advertise(bom_pub); |
71 | 88fb3a79 | Tom Mullins | |
72 | 6e7f0a98 | Tom Mullins | id = 0;
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73 | 6c9146d5 | Tom Mullins | next = 0;
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74 | 88fb3a79 | Tom Mullins | while (1) |
75 | { |
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76 | 6c9146d5 | Tom Mullins | nh.spinOnce(); |
77 | |||
78 | /* Skip loop if the loop period hasn't passed yet */
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79 | /* TODO if we need more exact timing, we can enter a tight loop when now
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80 | * gets close to next, and avoid the uncertainty of nh.spinOnce() */
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81 | now = nh.getHardware()->time(); |
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82 | if (now < next) {
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83 | continue;
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84 | } |
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85 | next = now + MAINLOOP_PERIOD; |
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86 | |||
87 | /* Temporary, for BOM testing */
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88 | 6e7f0a98 | Tom Mullins | id++; |
89 | if (id == 0x40) { |
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90 | id = 0;
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91 | } |
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92 | set_robot_id(id); |
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93 | 47e26dee | Tom Mullins | bom_send(id & 1);
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94 | 6c9146d5 | Tom Mullins | |
95 | /* BOM */
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96 | 6e7f0a98 | Tom Mullins | for (i = 0; i < 4; i++) { |
97 | int msg = bom_get(i);
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98 | if (msg != BOM_NO_DATA) {
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99 | bom_msg.sender = bom_msg_get_robot_id(msg); |
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100 | bom_msg.send_dir = bom_msg_get_dir(msg); |
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101 | bom_msg.recv_dir = i; |
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102 | bom_pub.publish(&bom_msg); |
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103 | } |
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104 | } |
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105 | 47e26dee | Tom Mullins | |
106 | 6c9146d5 | Tom Mullins | /* Stepper / range sensor */
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107 | // TODO sweep stepper
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108 | range_measure(ranges); |
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109 | range_msg.header.stamp = nh.now(); |
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110 | range_msg.header.seq++; |
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111 | range_msg.pos = 0; // TODO fill this |
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112 | range_msg.distance0 = ranges[0];
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113 | range_msg.distance1 = ranges[1];
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114 | |||
115 | 88fb3a79 | Tom Mullins | } |
116 | |||
117 | return 0; |
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118 | 49090532 | Tom Mullins | } |
119 | 88fb3a79 | Tom Mullins | |
120 | 807483bf | Tom Mullins | #else /////////////////////////////////////////////// |
121 | |||
122 | extern "C" |
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123 | 88fb3a79 | Tom Mullins | { |
124 | #include <stdlib.h> |
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125 | #include <string.h> |
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126 | fd73d758 | Tom Mullins | #include <avr/io.h> |
127 | #include <util/delay.h> |
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128 | 88fb3a79 | Tom Mullins | } |
129 | |||
130 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
131 | 1c3c96ce | Tom Mullins | #include "range.h" |
132 | f115416e | Tom Mullins | #include "bom.h" |
133 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
134 | 49090532 | Tom Mullins | |
135 | 31f4a032 | Tom Mullins | Atmega128rfa1 avr; |
136 | |||
137 | 812788aa | Tom Mullins | void debug(const char *str) |
138 | { |
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139 | 31f4a032 | Tom Mullins | avr.puts(str); |
140 | } |
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141 | |||
142 | 88fb3a79 | Tom Mullins | int main()
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143 | { |
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144 | 1c3c96ce | Tom Mullins | char buf[20]; |
145 | f115416e | Tom Mullins | int i;
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146 | 31f4a032 | Tom Mullins | char id = 0; |
147 | cf115e3d | Tom Mullins | unsigned long now, next = 0; |
148 | 88fb3a79 | Tom Mullins | avr.init(); |
149 | 1c3c96ce | Tom Mullins | range_init(); |
150 | f115416e | Tom Mullins | bom_init(); |
151 | 6c9146d5 | Tom Mullins | func step_sweep_cb = step_init(10);
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152 | step_sweep_bounds(-26, 26); |
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153 | step_dir(1);
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154 | step_sweep_speed(50);
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155 | 31f4a032 | Tom Mullins | avr.puts("Hello!\r\n");
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156 | 88fb3a79 | Tom Mullins | while (1) |
157 | { |
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158 | 6c9146d5 | Tom Mullins | step_sweep_cb(); |
159 | _delay_ms(10);
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160 | /*now = avr.time();
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161 | 49090532 | Tom Mullins | if (now > next) {
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162 | 6c9146d5 | Tom Mullins | next = now + 50;*/
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163 | //step_sweep_cb();
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164 | fd73d758 | Tom Mullins | /*ultoa(now, buf, 10);
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165 | 812788aa | Tom Mullins | avr.puts(buf);
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166 | fd73d758 | Tom Mullins | avr.puts("\r\n");*/
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167 | 6c9146d5 | Tom Mullins | /*id++;
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168 | 31f4a032 | Tom Mullins | if (id == 0x40) {
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169 | id = 0;
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170 | }
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171 | 6c9146d5 | Tom Mullins | set_robot_id(id);*/
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172 | f115416e | Tom Mullins | /*utoa(range_get(0), buf, 10);
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173 | avr.puts("Range: ");
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174 | avr.puts(buf);
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175 | avr.puts(", ");
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176 | 807483bf | Tom Mullins | utoa(range_get(1), buf, 10);
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177 | f115416e | Tom Mullins | avr.puts(buf);*/
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178 | 6c9146d5 | Tom Mullins | /*for (i = 0; i < 4; i++) {
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179 | f115416e | Tom Mullins | bom_send(i);
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180 | int msg = bom_get(i);
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181 | if (msg != BOM_NO_DATA) {
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182 | avr.puts("BOM ");
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183 | itoa(i, buf, 10);
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184 | avr.puts(buf);
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185 | avr.puts(": ");
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186 | 31f4a032 | Tom Mullins | itoa(bom_msg_get_robot_id(msg), buf, 10);
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187 | avr.puts(buf);
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188 | avr.puts(" (");
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189 | itoa(bom_msg_get_dir(msg), buf, 10);
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190 | f115416e | Tom Mullins | avr.puts(buf);
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191 | 31f4a032 | Tom Mullins | avr.puts(")\r\n");
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192 | f115416e | Tom Mullins | }
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193 | 6c9146d5 | Tom Mullins | }*/
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194 | //}
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195 | 88fb3a79 | Tom Mullins | } |
196 | return 0; |
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197 | cf115e3d | Tom Mullins | } |
198 | 807483bf | Tom Mullins | |
199 | #endif ////////////////////////////////////////////// |