Revision 560d2317
Added forward/backward support to motors node
| scout/motors/src/motors.cpp | ||
|---|---|---|
| 31 | 31 |
* |
| 32 | 32 |
* @author Colony Project, CMU Robotics Club |
| 33 | 33 |
* @author Ben Wasserman |
| 34 |
* @author Tom Mullins |
|
| 34 | 35 |
*/ |
| 35 | 36 |
|
| 36 | 37 |
#include <ros/ros.h> |
| 37 | 38 |
#include <cstdlib> |
| 38 |
#include <fstream> |
|
| 39 | 39 |
#include "motors.h" |
| 40 | 40 |
|
| 41 | 41 |
using namespace std; |
| ... | ... | |
| 47 | 47 |
* @{
|
| 48 | 48 |
*/ |
| 49 | 49 |
|
| 50 |
/* Motor state variables |
|
| 51 |
* Speeds expressed as absolute speed out of max speed (0 - +-MAXSPEED) |
|
| 52 |
* Absolute speed is the speed written to the hardware to move the motors |
|
| 50 |
/** |
|
| 51 |
* @brief Motor constructor |
|
| 52 |
* |
|
| 53 |
* Opens device file and reads initial PWM value |
|
| 54 |
* |
|
| 55 |
* @param filename The name of the PWM device file |
|
| 53 | 56 |
*/ |
| 54 |
static int motor_fl_speed; /**< The current speed of the front left motor. */ |
|
| 55 |
static int motor_fr_speed; /**< The current speed of the front right motor. */ |
|
| 56 |
static int motor_bl_speed; /**< The current speed of the back left motor. */ |
|
| 57 |
static int motor_br_speed; /**< The current speed of the back right motor. */ |
|
| 57 |
Motor::Motor(const char* pwmfile, const char* in1file, const char* in2file) |
|
| 58 |
: fpwm(pwmfile), fin1(in1file), fin2(in2file) |
|
| 59 |
{
|
|
| 60 |
int pwm, in1, in2; |
|
| 61 |
|
|
| 62 |
// read current values from device files |
|
| 63 |
fpwm >> pwm; |
|
| 64 |
fin1 >> in1; |
|
| 65 |
fin2 >> in2; |
|
| 66 |
|
|
| 67 |
// convert to our speed units |
|
| 68 |
if (in1) |
|
| 69 |
{
|
|
| 70 |
if (in2) |
|
| 71 |
{
|
|
| 72 |
// short brake |
|
| 73 |
speed = 0; |
|
| 74 |
} |
|
| 75 |
else |
|
| 76 |
{
|
|
| 77 |
// CW |
|
| 78 |
speed = pwm; |
|
| 79 |
} |
|
| 80 |
} |
|
| 81 |
else |
|
| 82 |
{
|
|
| 83 |
if (in2) |
|
| 84 |
{
|
|
| 85 |
// CCW |
|
| 86 |
speed = -pwm; |
|
| 87 |
} |
|
| 88 |
else |
|
| 89 |
{
|
|
| 90 |
// off |
|
| 91 |
speed = 0; |
|
| 92 |
} |
|
| 93 |
} |
|
| 58 | 94 |
|
| 59 |
static fstream motor_fl_file; /**< The device file for the front left motor. */ |
|
| 60 |
static fstream motor_fr_file; /**< The device file for the front right motor. */ |
|
| 61 |
static fstream motor_bl_file; /**< The device file for the back left motor. */ |
|
| 62 |
static fstream motor_br_file; /**< The device file for the back right motor. */ |
|
| 95 |
// ensure we are in a consistent state by writing back to hardware |
|
| 96 |
set_speed(speed); |
|
| 97 |
} |
|
| 98 |
|
|
| 99 |
/** |
|
| 100 |
* @brief Returns current motor speed |
|
| 101 |
* |
|
| 102 |
* Note that this doesn't read from the hardware |
|
| 103 |
*/ |
|
| 104 |
int Motor::get_speed() |
|
| 105 |
{
|
|
| 106 |
return speed; |
|
| 107 |
} |
|
| 108 |
|
|
| 109 |
/** |
|
| 110 |
* @brief Sets motor speed |
|
| 111 |
* |
|
| 112 |
* This will set the member this->speed and write the new speed to the hardware |
|
| 113 |
* |
|
| 114 |
* @param new_speed The speed to set, between +/- MAXSPEED inclusive |
|
| 115 |
*/ |
|
| 116 |
void Motor::set_speed(int new_speed) |
|
| 117 |
{
|
|
| 118 |
int pwm, in1, in2; |
|
| 119 |
|
|
| 120 |
speed = new_speed; |
|
| 121 |
|
|
| 122 |
// convert to hardware units |
|
| 123 |
if (speed == 0) |
|
| 124 |
{
|
|
| 125 |
/// @todo should this be off (00) or short brake (11)? |
|
| 126 |
pwm = 0; |
|
| 127 |
in1 = 0; |
|
| 128 |
in2 = 0; |
|
| 129 |
} |
|
| 130 |
else if (speed > 0) |
|
| 131 |
{
|
|
| 132 |
// CW |
|
| 133 |
pwm = speed; |
|
| 134 |
in1 = 1; |
|
| 135 |
in2 = 0; |
|
| 136 |
} |
|
| 137 |
else |
|
| 138 |
{
|
|
| 139 |
// CCW |
|
| 140 |
pwm = -speed; |
|
| 141 |
in1 = 0; |
|
| 142 |
in2 = 1; |
|
| 143 |
} |
|
| 144 |
|
|
| 145 |
// write to hardware |
|
| 146 |
fpwm << pwm; |
|
| 147 |
fin1 << in1; |
|
| 148 |
fin2 << in2; |
|
| 149 |
} |
|
| 150 |
|
|
| 151 |
/// @todo change these to the correct files |
|
| 152 |
/// @todo also, a problem: gpio can only be done as root! |
|
| 153 |
// Motor state variables |
|
| 154 |
static Motor motor_fl("/dev/pwm8", "/dev/null", "/dev/null");
|
|
| 155 |
static Motor motor_fr("/dev/pwm9", "/dev/null", "/dev/null");
|
|
| 156 |
static Motor motor_bl("/dev/pwm10", "/dev/null", "/dev/null");
|
|
| 157 |
static Motor motor_br("/dev/pwm11", "/dev/null", "/dev/null");
|
|
| 63 | 158 |
|
| 64 | 159 |
/** |
| 65 | 160 |
* @brief Sets motor speed |
| ... | ... | |
| 73 | 168 |
{
|
| 74 | 169 |
if(msg->fl_set) |
| 75 | 170 |
{
|
| 76 |
motor_fl_speed = msg->fl_speed; |
|
| 77 |
motor_fl_file << motor_fl_speed; |
|
| 171 |
motor_fl.set_speed(msg->fl_speed); |
|
| 78 | 172 |
} |
| 79 | 173 |
if(msg->fr_set) |
| 80 | 174 |
{
|
| 81 |
motor_fr_speed = msg->fr_speed; |
|
| 82 |
motor_fr_file << motor_fr_speed; |
|
| 175 |
motor_fr.set_speed(msg->fr_speed); |
|
| 83 | 176 |
} |
| 84 | 177 |
if(msg->bl_set) |
| 85 | 178 |
{
|
| 86 |
motor_bl_speed = msg->bl_speed; |
|
| 87 |
motor_bl_file << motor_bl_speed; |
|
| 179 |
motor_bl.set_speed(msg->bl_speed); |
|
| 88 | 180 |
} |
| 89 | 181 |
if(msg->br_set) |
| 90 | 182 |
{
|
| 91 |
motor_br_speed = msg->br_speed; |
|
| 92 |
motor_br_file << motor_br_speed; |
|
| 183 |
motor_br.set_speed(msg->br_speed); |
|
| 93 | 184 |
} |
| 94 | 185 |
|
| 95 | 186 |
ROS_DEBUG("Motor speeds set");
|
| ... | ... | |
| 106 | 197 |
bool motors_query(motors::query_motors::Request &req, |
| 107 | 198 |
motors::query_motors::Response &res) |
| 108 | 199 |
{
|
| 109 |
/** @todo Are we checking hardware or just using the saved values? |
|
| 110 |
* Saved values sound fine to me (Alex). Pleas confirm. |
|
| 111 |
* I think saved values are ok; they're read in from hardware at the |
|
| 112 |
* beginning (Tom). */ |
|
| 113 |
res.fl_speed = motor_fl_speed; |
|
| 114 |
res.fr_speed = motor_fr_speed; |
|
| 115 |
res.bl_speed = motor_bl_speed; |
|
| 116 |
res.br_speed = motor_br_speed; |
|
| 200 |
res.fl_speed = motor_fl.get_speed(); |
|
| 201 |
res.fr_speed = motor_fr.get_speed(); |
|
| 202 |
res.bl_speed = motor_bl.get_speed(); |
|
| 203 |
res.br_speed = motor_br.get_speed(); |
|
| 117 | 204 |
|
| 118 | 205 |
ROS_DEBUG("Motor speeds queried");
|
| 119 | 206 |
|
| ... | ... | |
| 144 | 231 |
/* Subscribe to the set_motors topic */ |
| 145 | 232 |
ros::Subscriber sub0 = node.subscribe("set_motors", QUEUE_SIZE, motors_set);
|
| 146 | 233 |
|
| 147 |
/* Open device files for PWM values */ |
|
| 148 |
/** @todo These are probably not the correct order */ |
|
| 149 |
motor_fl_file.open("/dev/pwm8");
|
|
| 150 |
motor_fr_file.open("/dev/pwm9");
|
|
| 151 |
motor_bl_file.open("/dev/pwm10");
|
|
| 152 |
motor_br_file.open("/dev/pwm11");
|
|
| 153 |
|
|
| 154 |
/* Get initial values, for motor queries */ |
|
| 155 |
motor_fl_file >> motor_fl_speed; |
|
| 156 |
motor_fr_file >> motor_fr_speed; |
|
| 157 |
motor_bl_file >> motor_bl_speed; |
|
| 158 |
motor_br_file >> motor_br_speed; |
|
| 159 |
|
|
| 160 | 234 |
ROS_INFO("Motors node ready.");
|
| 161 | 235 |
ros::spin(); |
| 162 | 236 |
|
Also available in: Unified diff