scoutos / scout / motors / src / motors.cpp @ 7e9a19f4
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1 | c406f16b | Ben | /**
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2 | 0121ead7 | bwasserm | * Copyright (c) 2011 Colony Project
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3 | c406f16b | Ben | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | c492be62 | Alex Zirbel | */
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25 | c406f16b | Ben | |
26 | /**
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27 | * @file motors.cpp
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28 | 18e2028b | Alex | * @brief Contains code to control the motors.
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29 | c406f16b | Ben | *
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30 | * Implementation of functions for motor use.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | 3ec16d35 | Ben Wasserman | * @author Ben Wasserman
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34 | 560d2317 | Tom Mullins | * @author Tom Mullins
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35 | 9b11c5b3 | Alex Zirbel | */
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36 | c406f16b | Ben | |
37 | a8480867 | Alex Zirbel | #include <ros/ros.h> |
38 | c406f16b | Ben | #include <cstdlib> |
39 | a8480867 | Alex Zirbel | #include "motors.h" |
40 | c406f16b | Ben | |
41 | cc9e9213 | Tom Mullins | using namespace std; |
42 | |||
43 | c406f16b | Ben | /**
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44 | * @defgroup motors Motors
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45 | * @brief Functions for using the motors
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46 | *
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47 | 18e2028b | Alex | * @{
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48 | 9b11c5b3 | Alex Zirbel | */
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49 | c406f16b | Ben | |
50 | 560d2317 | Tom Mullins | /**
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51 | * @brief Motor constructor
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52 | *
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53 | * Opens device file and reads initial PWM value
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54 | *
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55 | * @param filename The name of the PWM device file
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56 | c9f87aaf | bwasserm | */
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57 | ed37d345 | Tom Mullins | Motor::Motor(int pwm_gpt, int in1_gpio, int in2_gpio) |
58 | 560d2317 | Tom Mullins | { |
59 | ed37d345 | Tom Mullins | char buf[60]; |
60 | 560d2317 | Tom Mullins | int pwm, in1, in2;
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61 | |||
62 | ed37d345 | Tom Mullins | // open device files
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63 | sprintf(buf, "/dev/pwm%d", pwm_gpt);
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64 | fpwm.open(buf); |
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65 | sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio);
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66 | fin1.open(buf); |
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67 | sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio);
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68 | fin2.open(buf); |
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69 | |||
70 | 560d2317 | Tom Mullins | // read current values from device files
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71 | fpwm >> pwm; |
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72 | fin1 >> in1; |
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73 | fin2 >> in2; |
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74 | |||
75 | // convert to our speed units
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76 | if (in1)
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77 | { |
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78 | if (in2)
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79 | { |
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80 | // short brake
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81 | speed = 0;
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82 | } |
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83 | else
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84 | { |
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85 | // CW
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86 | speed = pwm; |
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87 | } |
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88 | } |
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89 | else
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90 | { |
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91 | if (in2)
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92 | { |
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93 | // CCW
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94 | speed = -pwm; |
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95 | } |
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96 | else
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97 | { |
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98 | // off
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99 | speed = 0;
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100 | } |
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101 | } |
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102 | 0121ead7 | bwasserm | |
103 | 560d2317 | Tom Mullins | // ensure we are in a consistent state by writing back to hardware
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104 | set_speed(speed); |
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105 | } |
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106 | |||
107 | /**
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108 | * @brief Returns current motor speed
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109 | *
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110 | * Note that this doesn't read from the hardware
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111 | */
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112 | int Motor::get_speed()
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113 | { |
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114 | return speed;
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115 | } |
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116 | |||
117 | /**
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118 | * @brief Sets motor speed
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119 | *
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120 | * This will set the member this->speed and write the new speed to the hardware
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121 | *
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122 | * @param new_speed The speed to set, between +/- MAXSPEED inclusive
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123 | */
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124 | void Motor::set_speed(int new_speed) |
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125 | { |
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126 | int pwm, in1, in2;
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127 | |||
128 | speed = new_speed; |
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129 | |||
130 | // convert to hardware units
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131 | if (speed == 0) |
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132 | { |
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133 | /// @todo should this be off (00) or short brake (11)?
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134 | pwm = 0;
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135 | in1 = 0;
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136 | in2 = 0;
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137 | } |
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138 | else if (speed > 0) |
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139 | { |
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140 | // CW
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141 | pwm = speed; |
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142 | in1 = 1;
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143 | in2 = 0;
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144 | } |
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145 | else
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146 | { |
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147 | // CCW
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148 | pwm = -speed; |
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149 | in1 = 0;
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150 | in2 = 1;
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151 | } |
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152 | |||
153 | // write to hardware
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154 | 7e9a19f4 | Tom Mullins | fpwm << pwm << flush; |
155 | fin1 << in1 << flush; |
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156 | fin2 << in2 << flush; |
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157 | 560d2317 | Tom Mullins | } |
158 | |||
159 | ed37d345 | Tom Mullins | /// @todo change these to the correct motor locations
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160 | 560d2317 | Tom Mullins | // Motor state variables
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161 | ed37d345 | Tom Mullins | static Motor motor_fl( 8, 70, 71); |
162 | static Motor motor_fr( 9, 72, 73); |
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163 | static Motor motor_bl(11, 74, 75); |
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164 | static Motor motor_br(10, 76, 77); |
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165 | cc9e9213 | Tom Mullins | |
166 | 18e2028b | Alex | /**
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167 | * @brief Sets motor speed
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168 | c406f16b | Ben | *
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169 | * Sets the motor speeds based on subscription to the set_motors topic.
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170 | *
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171 | 18e2028b | Alex | * @param msg The message from the set_motors topic, containing speeds and
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172 | c406f16b | Ben | * motor configuration settings.
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173 | */
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174 | 18e2028b | Alex | void motors_set(const motors::set_motors::ConstPtr& msg) |
175 | { |
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176 | 2814387f | Alex Zirbel | if(msg->fl_set)
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177 | c9f87aaf | bwasserm | { |
178 | 560d2317 | Tom Mullins | motor_fl.set_speed(msg->fl_speed); |
179 | c9f87aaf | bwasserm | } |
180 | 2814387f | Alex Zirbel | if(msg->fr_set)
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181 | c9f87aaf | bwasserm | { |
182 | 560d2317 | Tom Mullins | motor_fr.set_speed(msg->fr_speed); |
183 | c9f87aaf | bwasserm | } |
184 | 2814387f | Alex Zirbel | if(msg->bl_set)
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185 | c9f87aaf | bwasserm | { |
186 | 560d2317 | Tom Mullins | motor_bl.set_speed(msg->bl_speed); |
187 | c9f87aaf | bwasserm | } |
188 | 2814387f | Alex Zirbel | if(msg->br_set)
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189 | c9f87aaf | bwasserm | { |
190 | 560d2317 | Tom Mullins | motor_br.set_speed(msg->br_speed); |
191 | c9f87aaf | bwasserm | } |
192 | |||
193 | 2814387f | Alex Zirbel | ROS_DEBUG("Motor speeds set");
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194 | c406f16b | Ben | } |
195 | |||
196 | 18e2028b | Alex | /**
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197 | * @brief Outputs current motor speeds
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198 | c406f16b | Ben | *
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199 | * Serves the service query_motors by responding to service requests with the
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200 | * speeds of the motors.
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201 | c9f87aaf | bwasserm | * @param req The request. The only field is the units requested.
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202 | 18e2028b | Alex | * @param res The response. The fields will be filled with values.
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203 | c406f16b | Ben | */
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204 | bool motors_query(motors::query_motors::Request &req,
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205 | 18e2028b | Alex | motors::query_motors::Response &res) |
206 | { |
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207 | 560d2317 | Tom Mullins | res.fl_speed = motor_fl.get_speed(); |
208 | res.fr_speed = motor_fr.get_speed(); |
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209 | res.bl_speed = motor_bl.get_speed(); |
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210 | res.br_speed = motor_br.get_speed(); |
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211 | 18e2028b | Alex | |
212 | ROS_DEBUG("Motor speeds queried");
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213 | a8480867 | Alex Zirbel | |
214 | 18e2028b | Alex | return true; |
215 | } |
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216 | |||
217 | /**
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218 | * @brief Motors driver. This is a ROS node that controls motor speeds.
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219 | *
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220 | * This is the main function for the motors node. It is run when the node
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221 | * starts and initializes the motors. It then subscribes to the
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222 | * set_motors, and set_motor_speeds topics, and advertises the
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223 | * query_motors service.
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224 | *
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225 | * @param argc The number of command line arguments (should be 1)
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226 | * @param argv The array of command line arguments
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227 | 9b11c5b3 | Alex Zirbel | */
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228 | 18e2028b | Alex | int main(int argc, char **argv) |
229 | { |
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230 | /* Initialize in ROS the motors driver node */
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231 | ros::init(argc, argv, "motors_driver");
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232 | |||
233 | /* Advertise that this serves the query_motors service */
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234 | 2814387f | Alex Zirbel | ros::NodeHandle node; |
235 | ros::ServiceServer service = node.advertiseService("query_motors",
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236 | motors_query); |
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237 | 18e2028b | Alex | |
238 | /* Subscribe to the set_motors topic */
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239 | 2814387f | Alex Zirbel | ros::Subscriber sub0 = node.subscribe("set_motors", QUEUE_SIZE, motors_set);
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240 | 18e2028b | Alex | |
241 | a8480867 | Alex Zirbel | ROS_INFO("Motors node ready.");
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242 | 18e2028b | Alex | ros::spin(); |
243 | c406f16b | Ben | |
244 | 18e2028b | Alex | return 0; |
245 | c406f16b | Ben | } |
246 | |||
247 | 9b11c5b3 | Alex Zirbel | /** @} */ |