scoutos / scout / libscout / src / libmotors.cpp @ 2814387f
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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 libmotors.cpp
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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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**/
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#include "libmotors.h" |
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/* ROS node created in libscout.cpp */
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extern ros::NodeHandle node;
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/** ROS publisher and client declaration */
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ros::Publisher set_motors_publisher; |
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ros::ServiceClient query_motors_client; |
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/**
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* @brief Initialize the motors module of libscout.
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*
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* Initialize the libscout node as a publisher of set_motors and a client of
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* query_motors.
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*/
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void libmotors_init()
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{ |
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set_motors_publisher = |
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node.advertise<motors::set_motors>("set_motors", QUEUE_SIZE);
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query_motors_client = |
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node.serviceClient<motors::query_motors>("query_motors");
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} |
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/**
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* @brief Sets all the speeds according to the specificiation of which motors
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* to set.
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*
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* @param which A bitmask of which motors need to be set.
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* @param speed The value to set the motors to.
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* @param units The units the speed is expressed in.
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* @return Function status
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*/
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int motors_set(int which, float speed, char units) |
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{ |
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float speed_fl, speed_fr, speed_bl, speed_br;
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speed_fl = speed_fr = speed_bl = speed_br = speed; |
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if(which & MOTOR_FL_REV)
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{ |
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speed_fl = -speed; |
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} |
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if(which & MOTOR_FR_REV)
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{ |
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speed_fr = -speed; |
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} |
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if(which & MOTOR_BL_REV)
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{ |
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speed_bl = -speed; |
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} |
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if(which & MOTOR_BR_REV)
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{ |
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speed_br = -speed; |
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} |
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return motors_set_each(which, speed_fl, speed_fr, speed_bl, speed_br,
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units); |
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} |
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/**
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* @brief Sets the left and right sides of scout to different speeds.
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*
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* @param speed_l The speed of both left motors.
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* @param speed_r The speed of both right motors.
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* @param units The units to set to.
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* @return Function status
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*/
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int motors_set_sides(float speed_l, float speed_r, char units) |
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{ |
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return motors_set_each(MOTOR_ALL, speed_l, speed_r, speed_l, speed_r,
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units); |
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} |
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/**
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* @brief Set motor speeds
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* Sets the speeds of the motors as a percentage of top speed. Can selectively
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* select which motors to set, and which to remain at previous speed.
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*
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* @param which A bitmask of which motors should be set.
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* @param speed The speed the motors should be set to.
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* @param units Optional units for the speeds.
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* @return Function status
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*/
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int motors_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)
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{ |
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check_which_ok(which); |
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motors::set_motors msg; |
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if(!ros::ok())
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{ |
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return LIB_ERROR;
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} |
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/* Set all the speeds (the booleans in the set_motors message determine
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* which ones will be used) */
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msg.fl_speed = speed_fl; |
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msg.fr_speed = speed_fr; |
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msg.bl_speed = speed_bl; |
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msg.br_speed = speed_br; |
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/* Tell the motors node which motors need to be updated */
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msg.fl_set = msg.fr_set = msg.bl_set = msg.br_set = false;
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if(which & (MOTOR_FL | MOTOR_FL_REV))
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{ |
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msg.fl_set = true;
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} |
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if(which & (MOTOR_FR | MOTOR_FR_REV))
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{ |
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msg.fr_set = true;
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} |
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if(which & (MOTOR_BL | MOTOR_BL_REV))
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{ |
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msg.bl_set = true;
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} |
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if(which & (MOTOR_BR | MOTOR_BR_REV))
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{ |
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msg.br_set = true;
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} |
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/* Specify which units the speeds are given in */
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msg.units = units; |
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/* Publishes message to set_motors topic */
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set_motors_publisher.publish(msg); |
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ros::spinOnce(); |
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return LIB_OK;
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} |
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/**
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* Double-checks the which variable to make sure the front and back
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* bits are not both set for a single motor.
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*
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* @param which The which motor specfication to check.
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*/
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void check_which_ok(int which) |
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{ |
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ROS_WARN_COND( ((which & MOTOR_FL) && (which & MOTOR_FL_REV)), |
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"FL Motor set in both directions!");
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ROS_WARN_COND( ((which & MOTOR_FR) && (which & MOTOR_FR_REV)), |
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"FR Motor set in both directions!");
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ROS_WARN_COND( ((which & MOTOR_BL) && (which & MOTOR_BL_REV)), |
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"BL Motor set in both directions!");
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ROS_WARN_COND( ((which & MOTOR_BR) && (which & MOTOR_BR_REV)), |
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"BR Motor set in both directions!");
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} |
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/**
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* @brief Query the current speeds of the motors
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*
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* Sends a request to the query_motors service which will reply with the
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* current speed of each motor.
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*
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* @todo Change so we can get multiple motor speeds with one call
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*
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* @param which A bitmask that will specify which motor speed should be
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* returned
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* @return The speed of the selected motor, or LIB_ERR if no motor selected
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*/
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float motors_query(int which) |
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{ |
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motors::query_motors srv; |
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if(query_motors_client.call(srv))
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{ |
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switch(which)
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{ |
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case MOTOR_FL:
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return srv.response.fl_speed;
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case MOTOR_FR:
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return srv.response.fr_speed;
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case MOTOR_BL:
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return srv.response.bl_speed;
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case MOTOR_BR:
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return srv.response.br_speed;
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default:
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ROS_WARN("Bad WHICH in motors_query.");
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return LIB_ERROR;
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} |
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} |
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else
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{ |
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ROS_ERROR("Failed to call service query_motors");
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return LIB_ERROR;
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} |
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return 0; |
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} |