Revision c9f87aaf
| ID | c9f87aaf3a58a9f09fc5d5ba9fa93b5e540e30d4 |
Added code inside motors.cpp to set and read individual speeds in different units. Also added appropriate headers to motors.h, and units field to query_motors.srv and set_motors.msg
| scout/motors/src/motors.cpp | ||
|---|---|---|
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* @{
|
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**/ |
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/* Motor state variables */ |
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/* Motor state variables |
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* Speeds expressed as absolute speed out of max speed (0 - +-MAXSPEED) |
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* Absolute speed is the speed written to the hardware to move the motors |
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*/ |
|
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/** @todo Fix types: static */ |
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int motor_fl_speed; /**< The current speed of the front left motor. */ |
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int motor_fr_speed; /**< The current speed of the front right motor. */ |
| ... | ... | |
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*/ |
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void motors_set(const motors::set_motors::ConstPtr& msg) |
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{
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/** @todo Edit to only set requested motors, not all */ |
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motor_fl_speed = msg->fl_speed; |
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motor_fr_speed = msg->fr_speed; |
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motor_bl_speed = msg->bl_speed; |
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motor_br_speed = msg->br_speed; |
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/** @todo Edit to only set requested motors, not all */ |
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int which = msg->which; |
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if(which & MOTOR_FL_REV) |
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{
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motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units); |
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} |
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if(which & MOTOR_FR_REV) |
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{
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motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units); |
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} |
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if(which & MOTOR_BL_REV) |
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{
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motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units); |
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} |
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if(which & MOTOR_BR_REV) |
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{
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motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units); |
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} |
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if(which & MOTOR_FL) |
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{
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motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units); |
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} |
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if(which & MOTOR_FR) |
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{
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motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units); |
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} |
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if(which & MOTOR_BL) |
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{
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motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units); |
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} |
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if(which & MOTOR_BR) |
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{
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motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units); |
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} |
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|
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/* Write speeds to hardware */ |
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/** @todo Add code to write speeds to hardware */ |
|
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} |
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|
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/** |
| ... | ... | |
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* |
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* Serves the service query_motors by responding to service requests with the |
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* speeds of the motors. |
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* @param req The request. Should be empty.
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* @param req The request. The only field is the units requested.
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* @param res The response. The fields will be filled with values. |
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*/ |
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bool motors_query(motors::query_motors::Request &req, |
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motors::query_motors::Response &res) |
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{
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res.fl_speed = motor_fl_speed; |
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res.fr_speed = motor_fr_speed; |
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res.bl_speed = motor_bl_speed; |
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res.br_speed = motor_br_speed; |
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int units = req.units; |
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res.fl_speed = motors_abs_to_rel(motor_fl_speed, units); |
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res.fr_speed = motors_abs_to_rel(motor_fr_speed, units); |
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res.bl_speed = motors_abs_to_rel(motor_bl_speed, units); |
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res.br_speed = motors_abs_to_rel(motor_br_speed, units); |
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|
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ROS_DEBUG("Motor speeds queried");
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return true; |
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} |
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|
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/** |
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* @brief Converts set speeds (of various units) to absolute speeds. |
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* |
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* @param speed The speed expressed in the desired units |
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* @param units The units the desired speed is measured in |
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* @return The absolute speed of the motor |
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**/ |
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int motors_rel_to_abs(int rel_speed, int units) |
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{
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switch(units) |
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{
|
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case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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return rel_speed; |
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case MOTOR_PERCENT:/* Convert from percentage */ |
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return rel_speed * MAXSPEED / 100; |
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case MOTOR_MMS:/* Convert from mm/s */ |
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/** @todo Make math to do this conversion **/ |
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return rel_speed; |
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case MOTOR_CMS:/* Convert from cm/s */ |
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/** @todo Make math to do this conversion **/ |
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return rel_speed; |
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default: /* The units aren't recognized */ |
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/** @todo Decide on default case. Either percent or absolute. **/ |
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return rel_speed; |
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} |
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} |
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|
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/** |
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* @brief Convert absolute speeds to speeds of various units. |
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* |
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* @param speed The speed expressed in absolute units. |
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* @param units The units the desired speed is measured in. |
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* @return The relative speed of the motor in desired units. |
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**/ |
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int motors_abs_to_rel(int abs_speed, int units) |
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{
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switch(units) |
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{
|
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case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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return abs_speed; |
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case MOTOR_PERCENT:/* Convert from percentage */ |
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return abs_speed * 100 / MAXSPEED; |
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case MOTOR_MMS:/* Convert from mm/s */ |
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/** @todo Make math to do this conversion **/ |
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return abs_speed; |
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case MOTOR_CMS:/* Convert from cm/s */ |
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/** @todo Make math to do this conversion **/ |
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return abs_speed; |
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default: /* The units aren't recognized */ |
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/** @todo Decide on default case. Either percent or absolute. **/ |
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return abs_speed; |
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} |
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} |
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|
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/** |
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* @brief Motors driver. This is a ROS node that controls motor speeds. |
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* |
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* This is the main function for the motors node. It is run when the node |
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