root / scout / buttons / src / buttons.cpp @ 04f50f8a
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1 | 04f50f8a | Priya | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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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 | **/
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25 | |||
26 | /**
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27 | * @file buttons.cpp
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28 | * @brief Contains code to control the buttons.
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29 | *
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30 | * Implementation of functions for button use.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Priyanka Deo
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34 | **/
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35 | |||
36 | #include "ros/ros.h" |
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37 | #include "buttons.h" |
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38 | #include <cstdlib> |
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39 | |||
40 | /**
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41 | * @defgroup buttons Buttons
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42 | * @brief Functions for using the buttons
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43 | *
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44 | * @{
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45 | **/
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46 | |||
47 | /* Button state variables
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48 | */
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49 | static int button1_pressed; /**< Whether or not button 1 is pressed. */ |
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50 | static int button2_pressed; /**< Whether or not button 2 is pressed. */ |
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51 | |||
52 | /**
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53 | * @brief Sets motor speed
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54 | *
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55 | * Sets the motor speeds based on subscription to the set_motors topic.
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56 | *
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57 | * @param msg The message from the set_motors topic, containing speeds and
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58 | * motor configuration settings.
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59 | */
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60 | void motors_set(const motors::set_motors::ConstPtr& msg) |
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61 | { |
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62 | /** @todo Edit to only set requested motors, not all */
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63 | int which = msg->which;
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64 | if(which & MOTOR_FL_REV)
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65 | { |
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66 | motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units);
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67 | } |
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68 | if(which & MOTOR_FR_REV)
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69 | { |
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70 | motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units);
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71 | } |
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72 | if(which & MOTOR_BL_REV)
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73 | { |
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74 | motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units);
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75 | } |
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76 | if(which & MOTOR_BR_REV)
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77 | { |
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78 | motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units);
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79 | } |
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80 | if(which & MOTOR_FL)
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81 | { |
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82 | motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units); |
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83 | } |
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84 | if(which & MOTOR_FR)
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85 | { |
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86 | motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units); |
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87 | } |
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88 | if(which & MOTOR_BL)
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89 | { |
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90 | motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units); |
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91 | } |
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92 | if(which & MOTOR_BR)
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93 | { |
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94 | motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units); |
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95 | } |
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96 | |||
97 | /* Write speeds to hardware */
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98 | /** @todo Add code to write speeds to hardware */
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99 | } |
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100 | |||
101 | /**
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102 | * @brief Outputs current motor speeds
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103 | *
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104 | * Serves the service query_motors by responding to service requests with the
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105 | * speeds of the motors.
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106 | * @param req The request. The only field is the units requested.
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107 | * @param res The response. The fields will be filled with values.
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108 | */
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109 | bool motors_query(motors::query_motors::Request &req,
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110 | motors::query_motors::Response &res) |
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111 | { |
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112 | int units = req.units;
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113 | res.fl_speed = motors_abs_to_rel(motor_fl_speed, units); |
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114 | res.fr_speed = motors_abs_to_rel(motor_fr_speed, units); |
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115 | res.bl_speed = motors_abs_to_rel(motor_bl_speed, units); |
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116 | res.br_speed = motors_abs_to_rel(motor_br_speed, units); |
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117 | |||
118 | ROS_DEBUG("Motor speeds queried");
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119 | return true; |
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120 | } |
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121 | |||
122 | /**
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123 | * @brief Converts set speeds (of various units) to absolute speeds.
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124 | *
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125 | * @param speed The speed expressed in the desired units
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126 | * @param units The units the desired speed is measured in
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127 | * @return The absolute speed of the motor
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128 | **/
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129 | int motors_rel_to_abs(int rel_speed, int units) |
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130 | { |
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131 | switch(units)
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132 | { |
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133 | case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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134 | return rel_speed;
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135 | case MOTOR_PERCENT:/* Convert from percentage */ |
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136 | return rel_speed * MAXSPEED / 100; |
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137 | case MOTOR_MMS:/* Convert from mm/s */ |
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138 | /** @todo Make math to do this conversion **/
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139 | return rel_speed;
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140 | case MOTOR_CMS:/* Convert from cm/s */ |
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141 | /** @todo Make math to do this conversion **/
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142 | return rel_speed;
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143 | default: /* The units aren't recognized */ |
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144 | /** @todo Decide on default case. Either percent or absolute. **/
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145 | return rel_speed;
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146 | } |
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147 | } |
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148 | |||
149 | /**
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150 | * @brief Convert absolute speeds to speeds of various units.
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151 | *
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152 | * @param speed The speed expressed in absolute units.
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153 | * @param units The units the desired speed is measured in.
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154 | * @return The relative speed of the motor in desired units.
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155 | **/
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156 | int motors_abs_to_rel(int abs_speed, int units) |
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157 | { |
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158 | switch(units)
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159 | { |
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160 | case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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161 | return abs_speed;
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162 | case MOTOR_PERCENT:/* Convert from percentage */ |
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163 | return abs_speed * 100 / MAXSPEED; |
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164 | case MOTOR_MMS:/* Convert from mm/s */ |
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165 | /** @todo Make math to do this conversion **/
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166 | return abs_speed;
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167 | case MOTOR_CMS:/* Convert from cm/s */ |
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168 | /** @todo Make math to do this conversion **/
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169 | return abs_speed;
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170 | default: /* The units aren't recognized */ |
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171 | /** @todo Decide on default case. Either percent or absolute. **/
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172 | return abs_speed;
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173 | } |
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174 | } |
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175 | |||
176 | /**
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177 | * @brief Motors driver. This is a ROS node that controls motor speeds.
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178 | *
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179 | * This is the main function for the motors node. It is run when the node
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180 | * starts and initializes the motors. It then subscribes to the
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181 | * set_motors, and set_motor_speeds topics, and advertises the
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182 | * query_motors service.
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183 | *
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184 | * @param argc The number of command line arguments (should be 1)
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185 | * @param argv The array of command line arguments
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186 | **/
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187 | int main(int argc, char **argv) |
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188 | { |
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189 | /* Initialize in ROS the motors driver node */
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190 | ros::init(argc, argv, "motors_driver");
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191 | |||
192 | /* Advertise that this serves the query_motors service */
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193 | ros::NodeHandle n; |
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194 | ros::ServiceServer service = n.advertiseService("query_motors",
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195 | motors_query); |
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196 | |||
197 | /* Subscribe to the set_motors topic */
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198 | ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set); |
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199 | |||
200 | /* Initialize hardware for motors */
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201 | // Hardware init functions here
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202 | |||
203 | ROS_INFO("Ready to set motors.");
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204 | ros::spin(); |
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205 | |||
206 | return 0; |
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207 | } |
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208 | |||
209 | /** @} **/ |