Revision fcd68ec1
Fixed whitespace in motors node
scout/motors/src/motors.cpp | ||
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56 | 56 |
*/ |
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Motor::Motor(int pwm_gpt, int in1_gpio, int in2_gpio) |
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{ |
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char buf[60]; |
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// open device files |
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sprintf(buf, "/dev/pwm%d", pwm_gpt); |
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fpwm.open(buf, ios::out); |
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio); |
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fin1.open(buf, ios::out); |
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio); |
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fin2.open(buf, ios::out); |
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/* I set speed to 0 here rather than reading in what the current speed is |
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* because the pwm driver does not support seeking in the device files. Doing
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* both reading and writing causes fpwm to attempt seeking, which fails,
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* causing fpwm to refuse to do any more io. So, we can only write.
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*/ |
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speed = 0; |
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// ensure we are in a consistent state by writing to hardware |
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set_speed(speed); |
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char buf[60];
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// open device files
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sprintf(buf, "/dev/pwm%d", pwm_gpt);
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fpwm.open(buf, ios::out);
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio);
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fin1.open(buf, ios::out);
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sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio);
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fin2.open(buf, ios::out);
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/* I set speed to 0 here rather than reading in what the current speed is
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* because the pwm driver does not support seeking in the device files.
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* Doing both reading and writing causes fpwm to attempt seeking, which
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* fails, causing fpwm to refuse to do any more io. So, we can only write.
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*/
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speed = 0;
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// ensure we are in a consistent state by writing to hardware
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set_speed(speed);
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} |
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/** |
... | ... | |
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*/ |
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int Motor::get_speed() |
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{ |
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return speed; |
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return speed;
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} |
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|
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/** |
... | ... | |
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*/ |
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void Motor::set_speed(int new_speed) |
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{ |
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int pwm, in1, in2; |
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speed = new_speed; |
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// convert to hardware units |
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if (speed == 0) |
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{ |
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/// @todo should this be off (00) or short brake (11)? |
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pwm = 0; |
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in1 = 0; |
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in2 = 0; |
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} |
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else if (speed > 0) |
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{ |
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// CW |
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pwm = speed; |
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in1 = 1; |
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in2 = 0; |
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} |
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else |
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{ |
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// CCW |
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pwm = -speed; |
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in1 = 0; |
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in2 = 1; |
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} |
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// write to hardware |
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fpwm << pwm << flush; |
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fin1 << in1 << flush; |
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fin2 << in2 << flush; |
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int pwm, in1, in2;
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speed = new_speed;
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// convert to hardware units
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if (speed == 0)
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{
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/// @todo should this be off (00) or short brake (11)?
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pwm = 0;
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in1 = 0;
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in2 = 0;
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}
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else if (speed > 0)
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{
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// CW
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pwm = speed;
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in1 = 1;
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in2 = 0;
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}
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else
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{
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// CCW
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pwm = -speed;
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in1 = 0;
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in2 = 1;
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}
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// write to hardware
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fpwm << pwm << flush;
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fin1 << in1 << flush;
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fin2 << in2 << flush;
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} |
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/// @todo change these to the correct motor locations / directions |
... | ... | |
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{ |
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if(msg->fl_set) |
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{ |
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motor_fl.set_speed(msg->fl_speed); |
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motor_fl.set_speed(msg->fl_speed);
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} |
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if(msg->fr_set) |
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{ |
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motor_fr.set_speed(msg->fr_speed); |
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motor_fr.set_speed(msg->fr_speed);
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} |
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if(msg->bl_set) |
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{ |
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motor_bl.set_speed(msg->bl_speed); |
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motor_bl.set_speed(msg->bl_speed);
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} |
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if(msg->br_set) |
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{ |
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motor_br.set_speed(msg->br_speed); |
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motor_br.set_speed(msg->br_speed);
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} |
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ROS_DEBUG("Motor speeds set"); |
scout/motors/src/motors.h | ||
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57 | 57 |
|
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class Motor |
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{ |
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public: |
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Motor(int pwm_gpt, int in1_gpio, int in2_gpio); |
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~Motor(); |
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int get_speed(); |
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void set_speed(int speed); |
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private: |
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int speed; /**< The current speed of the motor */ |
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std::fstream fpwm; /**< The device file controlling PWM */ |
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std::fstream fin1; /**< The device file controlling IN1 */ |
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std::fstream fin2; /**< The device file controlling IN2 */ |
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public:
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Motor(int pwm_gpt, int in1_gpio, int in2_gpio);
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~Motor();
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int get_speed();
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void set_speed(int speed);
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private:
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int speed; /**< The current speed of the motor */
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std::fstream fpwm; /**< The device file controlling PWM */
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std::fstream fin1; /**< The device file controlling IN1 */
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std::fstream fin2; /**< The device file controlling IN2 */
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}; |
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#endif |
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