Revision 6257c97d
ID | 6257c97dd822231155108c01df3c40200eaa7c12 |
Continuing work on standardization of units.
scout/motors/msg/set_motors.msg | ||
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6 | 6 |
bool bl_set |
7 | 7 |
bool br_set |
8 | 8 |
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# The absolute motor speeds to set |
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# The absolute motor speeds to set (-255 to 255)
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10 | 10 |
int8 fl_speed |
11 | 11 |
int8 fr_speed |
12 | 12 |
int8 bl_speed |
scout/scoutsim/src/scout.cpp | ||
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113 | 113 |
sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0); |
114 | 114 |
} |
115 | 115 |
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float Scout::absolute_to_mps(int absolute_speed) |
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{ |
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return ((float) absolute_speed) * MAX_SPEED_MPS / MAX_ABSOLUTE_SPEED; |
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} |
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116 | 121 |
/** |
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* A callback function that sets velocity based on a set_motors |
118 | 123 |
* request. |
... | ... | |
124 | 129 |
|
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if(msg->fl_set) |
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{ |
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motor_fl_speed = msg->fl_speed;
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motor_fl_speed = absolute_to_mps(msg->fl_speed);
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128 | 133 |
} |
129 | 134 |
if(msg->fr_set) |
130 | 135 |
{ |
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motor_fr_speed = msg->fr_speed;
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motor_fr_speed = absolute_to_mps(msg->fr_speed);
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132 | 137 |
} |
133 | 138 |
if(msg->bl_set) |
134 | 139 |
{ |
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motor_bl_speed = msg->bl_speed;
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motor_bl_speed = absolute_to_mps(msg->bl_speed);
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136 | 141 |
} |
137 | 142 |
if(msg->br_set) |
138 | 143 |
{ |
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motor_br_speed = msg->br_speed;
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motor_br_speed = absolute_to_mps(msg->br_speed);
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140 | 145 |
} |
141 | 146 |
} |
142 | 147 |
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scout/scoutsim/src/scout.h | ||
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121 | 121 |
void paint(wxDC& dc); |
122 | 122 |
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123 | 123 |
private: |
124 |
float absolute_to_mps(int absolute_speed); |
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124 | 125 |
void setMotors(const motors::set_motors::ConstPtr& msg); |
125 | 126 |
bool setPenCallback(scoutsim::SetPen::Request&, |
126 | 127 |
scoutsim::SetPen::Response&); |
... | ... | |
157 | 158 |
|
158 | 159 |
/// @todo should these be an array or something? |
159 | 160 |
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// Keep track of the last commanded speeds sent to the sim |
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int motor_fl_speed; |
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int motor_fr_speed; |
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int motor_bl_speed; |
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int motor_br_speed; |
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// Keep track of the last commanded speeds sent to the sim, |
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// converted to m/s |
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float motor_fl_speed; |
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float motor_fr_speed; |
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float motor_bl_speed; |
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float motor_br_speed; |
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165 | 167 |
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166 | 168 |
// Keep track of encoder ticks for each motor |
167 | 169 |
unsigned int fl_ticks; |
scout/scoutsim/src/scout_constants.h | ||
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45 | 45 |
* OTHER DEALINGS IN THE SOFTWARE. |
46 | 46 |
*/ |
47 | 47 |
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/// @todo Comment up. |
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50 | 48 |
namespace scoutsim |
51 | 49 |
{ |
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// Maximum speed which will be sent to scoutsim in absolute units |
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const int MAX_ABSOLUTE_SPEED = 255; |
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// Speed in m/s corresponding to maximum absolute speed |
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const float MAX_SPEED_MPS = 1.0; |
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52 | 55 |
// Pixels in scoutsim per real-world meter. |
53 | 56 |
// Note that scout image size has been set based on this. |
54 | 57 |
const float PIX_PER_METER = 200.0; |
scout/scoutsim/src/sim_frame.cpp | ||
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391 | 391 |
} |
392 | 392 |
else if (wxGetKeyState(WXK_LEFT)) |
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{ |
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teleop_l_speed = -TELEOP_PRECISE_SPEED * 2;
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teleop_r_speed = TELEOP_PRECISE_SPEED * 2;
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teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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teleop_r_speed = TELEOP_PRECISE_SPEED; |
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396 | 396 |
} |
397 | 397 |
else if (wxGetKeyState(WXK_RIGHT)) |
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{ |
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teleop_l_speed = TELEOP_PRECISE_SPEED * 2;
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teleop_r_speed = -TELEOP_PRECISE_SPEED * 2;
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teleop_l_speed = TELEOP_PRECISE_SPEED; |
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teleop_r_speed = -TELEOP_PRECISE_SPEED; |
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401 | 401 |
} |
402 | 402 |
} |
403 | 403 |
|
scout/scoutsim/src/sim_frame.h | ||
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77 | 77 |
#define ID_TELEOP_FLUID 9 |
78 | 78 |
#define ID_SONAR 10 |
79 | 79 |
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#define TELEOP_PRECISE_SPEED 1.0f |
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#define TELEOP_FLUID_MAX_SPEED 1.5f |
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#define TELEOP_FLUID_INC 0.1f |
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// Absolute speeds (0 - 255) |
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#define TELEOP_PRECISE_SPEED 160 |
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#define TELEOP_FLUID_MAX_SPEED 200 |
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#define TELEOP_FLUID_INC 10 |
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83 | 84 |
|
84 | 85 |
// Teleop types |
85 | 86 |
#define TELEOP_OFF 0 |
... | ... | |
135 | 136 |
ros::Publisher wireless_receive; |
136 | 137 |
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137 | 138 |
// Teleop |
138 |
float teleop_l_speed;
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float teleop_r_speed;
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int teleop_l_speed;
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int teleop_r_speed;
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140 | 141 |
ros::Publisher teleop_pub; |
141 | 142 |
int teleop_type; |
142 | 143 |
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float teleop_fluid_speed;
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float teleop_fluid_omega;
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int teleop_fluid_speed;
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int teleop_fluid_omega;
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145 | 146 |
|
146 | 147 |
ros::NodeHandle nh; |
147 | 148 |
wxTimer* update_timer; |
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