Revision 560d2317
ID | 560d231775789e9cd435c6d85515171a9375c811 |
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