Revision 04f50f8a
Added buttons and cliffsensor ROS nodes. Everything except for src/<node>.cpp file functions have been changed.
scout/buttons/CMakeLists.txt | ||
---|---|---|
1 |
cmake_minimum_required(VERSION 2.4.6) |
|
2 |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
|
3 |
|
|
4 |
# Set the build type. Options are: |
|
5 |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
|
6 |
# Debug : w/ debug symbols, w/o optimization |
|
7 |
# Release : w/o debug symbols, w/ optimization |
|
8 |
# RelWithDebInfo : w/ debug symbols, w/ optimization |
|
9 |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
|
10 |
#set(ROS_BUILD_TYPE RelWithDebInfo) |
|
11 |
|
|
12 |
rosbuild_init() |
|
13 |
|
|
14 |
#set the default path for built executables to the "bin" directory |
|
15 |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
|
16 |
#set the default path for built libraries to the "lib" directory |
|
17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
|
18 |
|
|
19 |
#uncomment if you have defined messages |
|
20 |
rosbuild_genmsg() |
|
21 |
#uncomment if you have defined services |
|
22 |
rosbuild_gensrv() |
|
23 |
|
|
24 |
#common commands for building c++ executables and libraries |
|
25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
|
26 |
#target_link_libraries(${PROJECT_NAME} another_library) |
|
27 |
#rosbuild_add_boost_directories() |
|
28 |
#rosbuild_link_boost(${PROJECT_NAME} thread) |
|
29 |
#rosbuild_add_executable(example examples/example.cpp) |
|
30 |
#target_link_libraries(example ${PROJECT_NAME}) |
|
31 |
|
|
32 |
rosbuild_add_executable(motors_node src/motors.cpp) |
scout/buttons/Makefile | ||
---|---|---|
1 |
include $(shell rospack find mk)/cmake.mk |
scout/buttons/mainpage.dox | ||
---|---|---|
1 |
/** |
|
2 |
\mainpage |
|
3 |
\htmlinclude manifest.html |
|
4 |
|
|
5 |
\b buttons is the ros node that will respond to button events. |
|
6 |
|
|
7 |
<!-- |
|
8 |
Buttons will contain the functions neceessary for setting and responding to button events. |
|
9 |
--> |
|
10 |
|
|
11 |
|
|
12 |
\section codeapi Code API |
|
13 |
|
|
14 |
<!-- |
|
15 |
Provide links to specific auto-generated API documentation within your |
|
16 |
package that is of particular interest to a reader. Doxygen will |
|
17 |
document pretty much every part of your code, so do your best here to |
|
18 |
point the reader to the actual API. |
|
19 |
|
|
20 |
If your codebase is fairly large or has different sets of APIs, you |
|
21 |
should use the doxygen 'group' tag to keep these APIs together. For |
|
22 |
example, the roscpp documentation has 'libros' group. |
|
23 |
--> |
|
24 |
|
|
25 |
|
|
26 |
*/ |
scout/buttons/manifest.xml | ||
---|---|---|
1 |
<package> |
|
2 |
<description brief="buttons"> |
|
3 |
buttons |
|
4 |
Module to respond to button events. |
|
5 |
</description> |
|
6 |
<author>Priya</author> |
|
7 |
<license>BSD</license> |
|
8 |
<review status="unreviewed" notes=""/> |
|
9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
|
10 |
<depend package="roscpp"/> |
|
11 |
<depend package="std_msgs"/> |
|
12 |
|
|
13 |
</package> |
|
14 |
|
|
15 |
|
scout/buttons/msg/button_event.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 button1_pressed |
|
3 |
int8 button2_pressed |
scout/buttons/src/buttons.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file buttons.cpp |
|
28 |
* @brief Contains code to control the buttons. |
|
29 |
* |
|
30 |
* Implementation of functions for button use. |
|
31 |
* |
|
32 |
* @author Colony Project, CMU Robotics Club |
|
33 |
* @author Priyanka Deo |
|
34 |
**/ |
|
35 |
|
|
36 |
#include "ros/ros.h" |
|
37 |
#include "buttons.h" |
|
38 |
#include <cstdlib> |
|
39 |
|
|
40 |
/** |
|
41 |
* @defgroup buttons Buttons |
|
42 |
* @brief Functions for using the buttons |
|
43 |
* |
|
44 |
* @{ |
|
45 |
**/ |
|
46 |
|
|
47 |
/* Button state variables |
|
48 |
*/ |
|
49 |
static int button1_pressed; /**< Whether or not button 1 is pressed. */ |
|
50 |
static int button2_pressed; /**< Whether or not button 2 is pressed. */ |
|
51 |
|
|
52 |
/** |
|
53 |
* @brief Sets motor speed |
|
54 |
* |
|
55 |
* Sets the motor speeds based on subscription to the set_motors topic. |
|
56 |
* |
|
57 |
* @param msg The message from the set_motors topic, containing speeds and |
|
58 |
* motor configuration settings. |
|
59 |
*/ |
|
60 |
void motors_set(const motors::set_motors::ConstPtr& msg) |
|
61 |
{ |
|
62 |
/** @todo Edit to only set requested motors, not all */ |
|
63 |
int which = msg->which; |
|
64 |
if(which & MOTOR_FL_REV) |
|
65 |
{ |
|
66 |
motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units); |
|
67 |
} |
|
68 |
if(which & MOTOR_FR_REV) |
|
69 |
{ |
|
70 |
motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units); |
|
71 |
} |
|
72 |
if(which & MOTOR_BL_REV) |
|
73 |
{ |
|
74 |
motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units); |
|
75 |
} |
|
76 |
if(which & MOTOR_BR_REV) |
|
77 |
{ |
|
78 |
motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units); |
|
79 |
} |
|
80 |
if(which & MOTOR_FL) |
|
81 |
{ |
|
82 |
motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units); |
|
83 |
} |
|
84 |
if(which & MOTOR_FR) |
|
85 |
{ |
|
86 |
motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units); |
|
87 |
} |
|
88 |
if(which & MOTOR_BL) |
|
89 |
{ |
|
90 |
motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units); |
|
91 |
} |
|
92 |
if(which & MOTOR_BR) |
|
93 |
{ |
|
94 |
motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units); |
|
95 |
} |
|
96 |
|
|
97 |
/* Write speeds to hardware */ |
|
98 |
/** @todo Add code to write speeds to hardware */ |
|
99 |
} |
|
100 |
|
|
101 |
/** |
|
102 |
* @brief Outputs current motor speeds |
|
103 |
* |
|
104 |
* Serves the service query_motors by responding to service requests with the |
|
105 |
* speeds of the motors. |
|
106 |
* @param req The request. The only field is the units requested. |
|
107 |
* @param res The response. The fields will be filled with values. |
|
108 |
*/ |
|
109 |
bool motors_query(motors::query_motors::Request &req, |
|
110 |
motors::query_motors::Response &res) |
|
111 |
{ |
|
112 |
int units = req.units; |
|
113 |
res.fl_speed = motors_abs_to_rel(motor_fl_speed, units); |
|
114 |
res.fr_speed = motors_abs_to_rel(motor_fr_speed, units); |
|
115 |
res.bl_speed = motors_abs_to_rel(motor_bl_speed, units); |
|
116 |
res.br_speed = motors_abs_to_rel(motor_br_speed, units); |
|
117 |
|
|
118 |
ROS_DEBUG("Motor speeds queried"); |
|
119 |
return true; |
|
120 |
} |
|
121 |
|
|
122 |
/** |
|
123 |
* @brief Converts set speeds (of various units) to absolute speeds. |
|
124 |
* |
|
125 |
* @param speed The speed expressed in the desired units |
|
126 |
* @param units The units the desired speed is measured in |
|
127 |
* @return The absolute speed of the motor |
|
128 |
**/ |
|
129 |
int motors_rel_to_abs(int rel_speed, int units) |
|
130 |
{ |
|
131 |
switch(units) |
|
132 |
{ |
|
133 |
case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
|
134 |
return rel_speed; |
|
135 |
case MOTOR_PERCENT:/* Convert from percentage */ |
|
136 |
return rel_speed * MAXSPEED / 100; |
|
137 |
case MOTOR_MMS:/* Convert from mm/s */ |
|
138 |
/** @todo Make math to do this conversion **/ |
|
139 |
return rel_speed; |
|
140 |
case MOTOR_CMS:/* Convert from cm/s */ |
|
141 |
/** @todo Make math to do this conversion **/ |
|
142 |
return rel_speed; |
|
143 |
default: /* The units aren't recognized */ |
|
144 |
/** @todo Decide on default case. Either percent or absolute. **/ |
|
145 |
return rel_speed; |
|
146 |
} |
|
147 |
} |
|
148 |
|
|
149 |
/** |
|
150 |
* @brief Convert absolute speeds to speeds of various units. |
|
151 |
* |
|
152 |
* @param speed The speed expressed in absolute units. |
|
153 |
* @param units The units the desired speed is measured in. |
|
154 |
* @return The relative speed of the motor in desired units. |
|
155 |
**/ |
|
156 |
int motors_abs_to_rel(int abs_speed, int units) |
|
157 |
{ |
|
158 |
switch(units) |
|
159 |
{ |
|
160 |
case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
|
161 |
return abs_speed; |
|
162 |
case MOTOR_PERCENT:/* Convert from percentage */ |
|
163 |
return abs_speed * 100 / MAXSPEED; |
|
164 |
case MOTOR_MMS:/* Convert from mm/s */ |
|
165 |
/** @todo Make math to do this conversion **/ |
|
166 |
return abs_speed; |
|
167 |
case MOTOR_CMS:/* Convert from cm/s */ |
|
168 |
/** @todo Make math to do this conversion **/ |
|
169 |
return abs_speed; |
|
170 |
default: /* The units aren't recognized */ |
|
171 |
/** @todo Decide on default case. Either percent or absolute. **/ |
|
172 |
return abs_speed; |
|
173 |
} |
|
174 |
} |
|
175 |
|
|
176 |
/** |
|
177 |
* @brief Motors driver. This is a ROS node that controls motor speeds. |
|
178 |
* |
|
179 |
* This is the main function for the motors node. It is run when the node |
|
180 |
* starts and initializes the motors. It then subscribes to the |
|
181 |
* set_motors, and set_motor_speeds topics, and advertises the |
|
182 |
* query_motors service. |
|
183 |
* |
|
184 |
* @param argc The number of command line arguments (should be 1) |
|
185 |
* @param argv The array of command line arguments |
|
186 |
**/ |
|
187 |
int main(int argc, char **argv) |
|
188 |
{ |
|
189 |
/* Initialize in ROS the motors driver node */ |
|
190 |
ros::init(argc, argv, "motors_driver"); |
|
191 |
|
|
192 |
/* Advertise that this serves the query_motors service */ |
|
193 |
ros::NodeHandle n; |
|
194 |
ros::ServiceServer service = n.advertiseService("query_motors", |
|
195 |
motors_query); |
|
196 |
|
|
197 |
/* Subscribe to the set_motors topic */ |
|
198 |
ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set); |
|
199 |
|
|
200 |
/* Initialize hardware for motors */ |
|
201 |
// Hardware init functions here |
|
202 |
|
|
203 |
ROS_INFO("Ready to set motors."); |
|
204 |
ros::spin(); |
|
205 |
|
|
206 |
return 0; |
|
207 |
} |
|
208 |
|
|
209 |
/** @} **/ |
scout/buttons/src/buttons.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file buttons.h |
|
28 |
* @brief Contains buttons declarations and functions. |
|
29 |
* |
|
30 |
* Contains functions and definitions for the use of |
|
31 |
* buttons. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* @author Priyanka Deo |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _BUTTONS_H_ |
|
38 |
#define _BUTTONS_H_ |
|
39 |
|
|
40 |
#include "buttons/query_buttons.h" |
|
41 |
#include "buttons/button_event.h" |
|
42 |
|
|
43 |
#define BUTTON_PRESSED 0x1 |
|
44 |
|
|
45 |
/** @brief Initialize the buttons module and driver. **/ |
|
46 |
int main(int argc, char **argv); |
|
47 |
|
|
48 |
/** @brief Responds to topic to notify of button events. **/ |
|
49 |
void event_button(const buttons::button_event::ConstPtr& msg); |
|
50 |
|
|
51 |
/** @brief Responds to service to query buttons. **/ |
|
52 |
bool buttons_query(buttons::query_buttons::Request &req, |
|
53 |
buttons::query_buttons::Response &res); |
|
54 |
|
|
55 |
#endif |
scout/buttons/srv/query_buttons.srv | ||
---|---|---|
1 |
int8 units |
|
2 |
--- |
|
3 |
int8 button1_pressed |
|
4 |
int8 button2_pressed |
scout/buttons/srv/query_motors.srv | ||
---|---|---|
1 |
int8 units |
|
2 |
--- |
|
3 |
int8 fl_speed |
|
4 |
int8 fr_speed |
|
5 |
int8 bl_speed |
|
6 |
int8 br_speed |
scout/cliffsensor/CMakeLists.txt | ||
---|---|---|
1 |
cmake_minimum_required(VERSION 2.4.6) |
|
2 |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
|
3 |
|
|
4 |
# Set the build type. Options are: |
|
5 |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
|
6 |
# Debug : w/ debug symbols, w/o optimization |
|
7 |
# Release : w/o debug symbols, w/ optimization |
|
8 |
# RelWithDebInfo : w/ debug symbols, w/ optimization |
|
9 |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
|
10 |
#set(ROS_BUILD_TYPE RelWithDebInfo) |
|
11 |
|
|
12 |
rosbuild_init() |
|
13 |
|
|
14 |
#set the default path for built executables to the "bin" directory |
|
15 |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
|
16 |
#set the default path for built libraries to the "lib" directory |
|
17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
|
18 |
|
|
19 |
#uncomment if you have defined messages |
|
20 |
rosbuild_genmsg() |
|
21 |
#uncomment if you have defined services |
|
22 |
rosbuild_gensrv() |
|
23 |
|
|
24 |
#common commands for building c++ executables and libraries |
|
25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
|
26 |
#target_link_libraries(${PROJECT_NAME} another_library) |
|
27 |
#rosbuild_add_boost_directories() |
|
28 |
#rosbuild_link_boost(${PROJECT_NAME} thread) |
|
29 |
#rosbuild_add_executable(example examples/example.cpp) |
|
30 |
#target_link_libraries(example ${PROJECT_NAME}) |
|
31 |
|
|
32 |
rosbuild_add_executable(motors_node src/motors.cpp) |
scout/cliffsensor/Makefile | ||
---|---|---|
1 |
include $(shell rospack find mk)/cmake.mk |
scout/cliffsensor/mainpage.dox | ||
---|---|---|
1 |
/** |
|
2 |
\mainpage |
|
3 |
\htmlinclude manifest.html |
|
4 |
|
|
5 |
\b cliffsensor is the ros node that will read from the cliffsensors and detect cliffs and tell the motors to stop driving. |
|
6 |
|
|
7 |
<!-- |
|
8 |
Cliffsensor will contain the functions necessary for reading from the cliffsensors and detecting cliffs (and behaviors associated with the cliffsensor). |
|
9 |
--> |
|
10 |
|
|
11 |
|
|
12 |
\section codeapi Code API |
|
13 |
|
|
14 |
<!-- |
|
15 |
Provide links to specific auto-generated API documentation within your |
|
16 |
package that is of particular interest to a reader. Doxygen will |
|
17 |
document pretty much every part of your code, so do your best here to |
|
18 |
point the reader to the actual API. |
|
19 |
|
|
20 |
If your codebase is fairly large or has different sets of APIs, you |
|
21 |
should use the doxygen 'group' tag to keep these APIs together. For |
|
22 |
example, the roscpp documentation has 'libros' group. |
|
23 |
--> |
|
24 |
|
|
25 |
|
|
26 |
*/ |
scout/cliffsensor/manifest.xml | ||
---|---|---|
1 |
<package> |
|
2 |
<description brief="cliffsensor"> |
|
3 |
cliffsensor |
|
4 |
Module to read from the cliffsensor, detect cliffs, and behaviors for cliffsensor. |
|
5 |
</description> |
|
6 |
<author>Priya</author> |
|
7 |
<license>BSD</license> |
|
8 |
<review status="unreviewed" notes=""/> |
|
9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
|
10 |
<depend package="roscpp"/> |
|
11 |
<depend package="std_msgs"/> |
|
12 |
|
|
13 |
</package> |
|
14 |
|
|
15 |
|
scout/cliffsensor/msg/cliff_status_changed.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 front_raw |
|
3 |
int8 left_raw |
|
4 |
int8 right_raw |
|
5 |
int8 cliff_status |
scout/cliffsensor/src/cliffsensor.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file cliffsensor.cpp |
|
28 |
* @brief Contains code to control the cliffsensor. |
|
29 |
* |
|
30 |
* Implementation of functions for cliffsensor use. |
|
31 |
* |
|
32 |
* @author Colony Project, CMU Robotics Club |
|
33 |
* @author Priyanka Deo |
|
34 |
**/ |
|
35 |
|
|
36 |
#include "ros/ros.h" |
|
37 |
#include "cliffsensor.h" |
|
38 |
#include <cstdlib> |
|
39 |
|
|
40 |
/** |
|
41 |
* @defgroup cliffsensor Cliffsensor |
|
42 |
* @brief Functions for using the cliffsensors |
|
43 |
* |
|
44 |
* @{ |
|
45 |
**/ |
|
46 |
|
|
47 |
/* Cliffsensor state variables |
|
48 |
*/ |
|
49 |
static int front_raw; /**< The current raw value data of the front cliffsensor. */ |
|
50 |
static int left_raw; /**< The current raw value data of the left cliffsensor. */ |
|
51 |
static int back_raw; /**< The current raw value data of the right cliffsensor. */ |
|
52 |
static bool is_cliff; /**< Boolean to represent whether or not there is a cliff. */ |
|
53 |
|
|
54 |
/** |
|
55 |
* @brief Sets motor speed |
|
56 |
* |
|
57 |
* Sets the motor speeds based on subscription to the set_motors topic. |
|
58 |
* |
|
59 |
* @param msg The message from the set_motors topic, containing speeds and |
|
60 |
* motor configuration settings. |
|
61 |
*/ |
|
62 |
void motors_set(const motors::set_motors::ConstPtr& msg) |
|
63 |
{ |
|
64 |
/** @todo Edit to only set requested motors, not all */ |
|
65 |
int which = msg->which; |
|
66 |
if(which & MOTOR_FL_REV) |
|
67 |
{ |
|
68 |
motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units); |
|
69 |
} |
|
70 |
if(which & MOTOR_FR_REV) |
|
71 |
{ |
|
72 |
motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units); |
|
73 |
} |
|
74 |
if(which & MOTOR_BL_REV) |
|
75 |
{ |
|
76 |
motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units); |
|
77 |
} |
|
78 |
if(which & MOTOR_BR_REV) |
|
79 |
{ |
|
80 |
motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units); |
|
81 |
} |
|
82 |
if(which & MOTOR_FL) |
|
83 |
{ |
|
84 |
motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units); |
|
85 |
} |
|
86 |
if(which & MOTOR_FR) |
|
87 |
{ |
|
88 |
motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units); |
|
89 |
} |
|
90 |
if(which & MOTOR_BL) |
|
91 |
{ |
|
92 |
motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units); |
|
93 |
} |
|
94 |
if(which & MOTOR_BR) |
|
95 |
{ |
|
96 |
motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units); |
|
97 |
} |
|
98 |
|
|
99 |
/* Write speeds to hardware */ |
|
100 |
/** @todo Add code to write speeds to hardware */ |
|
101 |
} |
|
102 |
|
|
103 |
/** |
|
104 |
* @brief Outputs current motor speeds |
|
105 |
* |
|
106 |
* Serves the service query_motors by responding to service requests with the |
|
107 |
* speeds of the motors. |
|
108 |
* @param req The request. The only field is the units requested. |
|
109 |
* @param res The response. The fields will be filled with values. |
|
110 |
*/ |
|
111 |
bool motors_query(motors::query_motors::Request &req, |
|
112 |
motors::query_motors::Response &res) |
|
113 |
{ |
|
114 |
int units = req.units; |
|
115 |
res.fl_speed = motors_abs_to_rel(motor_fl_speed, units); |
|
116 |
res.fr_speed = motors_abs_to_rel(motor_fr_speed, units); |
|
117 |
res.bl_speed = motors_abs_to_rel(motor_bl_speed, units); |
|
118 |
res.br_speed = motors_abs_to_rel(motor_br_speed, units); |
|
119 |
|
|
120 |
ROS_DEBUG("Motor speeds queried"); |
|
121 |
return true; |
|
122 |
} |
|
123 |
|
|
124 |
/** |
|
125 |
* @brief Converts set speeds (of various units) to absolute speeds. |
|
126 |
* |
|
127 |
* @param speed The speed expressed in the desired units |
|
128 |
* @param units The units the desired speed is measured in |
|
129 |
* @return The absolute speed of the motor |
|
130 |
**/ |
|
131 |
int motors_rel_to_abs(int rel_speed, int units) |
|
132 |
{ |
|
133 |
switch(units) |
|
134 |
{ |
|
135 |
case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
|
136 |
return rel_speed; |
|
137 |
case MOTOR_PERCENT:/* Convert from percentage */ |
|
138 |
return rel_speed * MAXSPEED / 100; |
|
139 |
case MOTOR_MMS:/* Convert from mm/s */ |
|
140 |
/** @todo Make math to do this conversion **/ |
|
141 |
return rel_speed; |
|
142 |
case MOTOR_CMS:/* Convert from cm/s */ |
|
143 |
/** @todo Make math to do this conversion **/ |
|
144 |
return rel_speed; |
|
145 |
default: /* The units aren't recognized */ |
|
146 |
/** @todo Decide on default case. Either percent or absolute. **/ |
|
147 |
return rel_speed; |
|
148 |
} |
|
149 |
} |
|
150 |
|
|
151 |
/** |
|
152 |
* @brief Convert absolute speeds to speeds of various units. |
|
153 |
* |
|
154 |
* @param speed The speed expressed in absolute units. |
|
155 |
* @param units The units the desired speed is measured in. |
|
156 |
* @return The relative speed of the motor in desired units. |
|
157 |
**/ |
|
158 |
int motors_abs_to_rel(int abs_speed, int units) |
|
159 |
{ |
|
160 |
switch(units) |
|
161 |
{ |
|
162 |
case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
|
163 |
return abs_speed; |
|
164 |
case MOTOR_PERCENT:/* Convert from percentage */ |
|
165 |
return abs_speed * 100 / MAXSPEED; |
|
166 |
case MOTOR_MMS:/* Convert from mm/s */ |
|
167 |
/** @todo Make math to do this conversion **/ |
|
168 |
return abs_speed; |
|
169 |
case MOTOR_CMS:/* Convert from cm/s */ |
|
170 |
/** @todo Make math to do this conversion **/ |
|
171 |
return abs_speed; |
|
172 |
default: /* The units aren't recognized */ |
|
173 |
/** @todo Decide on default case. Either percent or absolute. **/ |
|
174 |
return abs_speed; |
|
175 |
} |
|
176 |
} |
|
177 |
|
|
178 |
/** |
|
179 |
* @brief Motors driver. This is a ROS node that controls motor speeds. |
|
180 |
* |
|
181 |
* This is the main function for the motors node. It is run when the node |
|
182 |
* starts and initializes the motors. It then subscribes to the |
|
183 |
* set_motors, and set_motor_speeds topics, and advertises the |
|
184 |
* query_motors service. |
|
185 |
* |
|
186 |
* @param argc The number of command line arguments (should be 1) |
|
187 |
* @param argv The array of command line arguments |
|
188 |
**/ |
|
189 |
int main(int argc, char **argv) |
|
190 |
{ |
|
191 |
/* Initialize in ROS the motors driver node */ |
|
192 |
ros::init(argc, argv, "motors_driver"); |
|
193 |
|
|
194 |
/* Advertise that this serves the query_motors service */ |
|
195 |
ros::NodeHandle n; |
|
196 |
ros::ServiceServer service = n.advertiseService("query_motors", |
|
197 |
motors_query); |
|
198 |
|
|
199 |
/* Subscribe to the set_motors topic */ |
|
200 |
ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set); |
|
201 |
|
|
202 |
/* Initialize hardware for motors */ |
|
203 |
// Hardware init functions here |
|
204 |
|
|
205 |
ROS_INFO("Ready to set motors."); |
|
206 |
ros::spin(); |
|
207 |
|
|
208 |
return 0; |
|
209 |
} |
|
210 |
|
|
211 |
/** @} **/ |
scout/cliffsensor/src/cliffsensor.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file cliffsensor.h |
|
28 |
* @brief Contains cliffsensor declarations and functions. |
|
29 |
* |
|
30 |
* Contains functions and definitions for the use of |
|
31 |
* cliffsensors. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* @author Priyanka Deo |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _CLIFFSENSOR_H_ |
|
38 |
#define _CLIFFSENSOR_H_ |
|
39 |
|
|
40 |
#include "cliffsensor/query_cliff.h" |
|
41 |
#include "cliffsensor/cliff_status_changed.h" |
|
42 |
|
|
43 |
#define CLIFF_DETECTED 0x0 |
|
44 |
#define NO_CLIFF 0x1 |
|
45 |
|
|
46 |
/** @brief Initialize the cliffsensor module and driver. **/ |
|
47 |
int main(int argc, char **argv); |
|
48 |
|
|
49 |
/** @brief Responds to topic to change cliff sensor status. **/ |
|
50 |
void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg); |
|
51 |
|
|
52 |
/** @brief Responds to service to query cliffsensor data. **/ |
|
53 |
bool cliff_query(cliffsensor::query_cliff::Request &req, |
|
54 |
cliffsensor::query_cliff::Response &res); |
|
55 |
|
|
56 |
#endif |
scout/cliffsensor/srv/query_cliff.srv | ||
---|---|---|
1 |
int8 units |
|
2 |
--- |
|
3 |
int8 front_raw |
|
4 |
int8 left_raw |
|
5 |
int8 right_raw |
|
6 |
int8 cliff_status |
Also available in: Unified diff