class Motors:
def __init__(self, config):
roboclaw_vid = 0x03EB # VID of Roboclaw motor driver in hex
for port in comports():
if port.vid == roboclaw_vid:
self.rc = Roboclaw(port.device, 0x80)
break
else:
raise IOError("Roboclaw motor driver not found")
self.rc.Open()
self.address = 0x80
version = self.rc.ReadVersion(self.address)
self.l_ticks_per_m = config['ticks_per_m'][
'l'] # number of left encoder ticks per m traveled
self.r_ticks_per_m = config['ticks_per_m'][
'r'] # number of right encoder ticks per m traveled
self.track_width = config[
'track_width'] # width between the two tracks, in m
self.mapping = config['mapping']
if self.mapping not in ('rl', 'lr'):
raise ValueError("Invalid motor mapping '{self.mapping}'")
self.last_setpoint = None
if version[0] == False:
raise IOError("Roboclaw motor driver: GETVERSION failed")
else:
print(f"Roboclaw: {version[1]}")
def drive(self, speed, angle):
"""
Set the speed of the robot. They maintain this speed until stopped.
speed: Forward speed in m/s
angle: Clockwise angular rate in radians/s
"""
max_angle = np.pi / 2
angle = max(-max_angle, min(angle, max_angle))
left_speed = int(
(speed - self.track_width / 2 * angle) * self.l_ticks_per_m)
right_speed = int(
(speed + self.track_width / 2 * angle) * self.r_ticks_per_m)
if self.last_setpoint != (left_speed, right_speed):
self.last_setpoint = (left_speed, right_speed)
if self.mapping == "rl":
self.rc.SpeedM1M2(self.address, right_speed, left_speed)
else:
self.rc.SpeedM1M2(self.address, left_speed, right_speed)
def stop(self):
self.last_setpoint = None
self.rc.ForwardM1(self.address, 0)
self.rc.ForwardM2(self.address, 0)
def init_rc():
global rc
global rc_address
# Initialise the roboclaw motorcontroller
print("Initialising roboclaw driver...")
from roboclaw import Roboclaw
rc_address = 0x80
rc = Roboclaw("/dev/roboclaw", 115200)
rc.Open()
# Get roboclaw version to test if is attached
version = rc.ReadVersion(rc_address)
if version[0] is False:
print("Roboclaw get version failed")
sys.exit()
else:
print(repr(version[1]))
# Set motor controller variables to those required by K9
rc.SetM1VelocityPID(rc_address, M1_P, M1_I, M1_D, M1_QPPS)
rc.SetM2VelocityPID(rc_address, M2_P, M2_I, M2_D, M2_QPPS)
rc.SetMainVoltages(rc_address,232,290) # 23.2V min, 29V max
rc.SetPinFunctions(rc_address,2,0,0)
# Zero the motor encoders
rc.ResetEncoders(rc_address)
# Print Motor PID Settings
m1pid = rc.ReadM1VelocityPID(rc_address)
m2pid = rc.ReadM2VelocityPID(rc_address)
print("M1 P: " + str(m1pid[1]) + ", I:" + str(m1pid[2]) + ", D:" + str(m1pid[3]))
print("M2 P: " + str(m2pid[1]) + ", I:" + str(m2pid[2]) + ", D:" + str(m2pid[3]))
# Print Min and Max Main Battery Settings
minmaxv = rc.ReadMinMaxMainVoltages(rc_address) # get min max volts
print ("Min Main Battery: " + str(int(minmaxv[1])/10) + "V")
print ("Max Main Battery: " + str(int(minmaxv[2])/10) + "V")
# Print S3, S4 and S5 Modes
S3mode=['Default','E-Stop (latching)','E-Stop','Voltage Clamp','Undefined']
S4mode=['Disabled','E-Stop (latching)','E-Stop','Voltage Clamp','M1 Home']
S5mode=['Disabled','E-Stop (latching)','E-Stop','Voltage Clamp','M2 Home']
pinfunc = rc.ReadPinFunctions(rc_address)
print ("S3 pin: " + S3mode[pinfunc[1]])
print ("S4 pin: " + S4mode[pinfunc[2]])
print ("S5 pin: " + S5mode[pinfunc[3]])
print("Roboclaw motor controller initialised...")
class RoboclawWrapper(object):
"""Interface between the roboclaw motor drivers and the higher level rover code"""
def __init__(self):
rospy.loginfo("Initializing motor controllers")
# initialize attributes
self.rc = None
self.err = [None] * 5
self.address = []
self.current_enc_vals = None
self.corner_cmd_buffer = None
self.drive_cmd_buffer = None
self.roboclaw_mapping = rospy.get_param('~roboclaw_mapping')
self.encoder_limits = {}
self.establish_roboclaw_connections()
self.stop_motors() # don't move at start
self.setup_encoders()
# save settings to non-volatile (permanent) memory
for address in self.address:
self.rc.WriteNVM(address)
for address in self.address:
self.rc.ReadNVM(address)
self.corner_max_vel = 1000
# corner motor acceleration
# Even though the actual method takes longs (2*32-1), roboclaw blog says 2**15 is 100%
accel_max = 2**15 - 1
accel_rate = rospy.get_param('/corner_acceleration_factor', 0.8)
self.corner_accel = int(accel_max * accel_rate)
self.roboclaw_overflow = 2**15 - 1
# drive motor acceleration
accel_max = 2**15 - 1
accel_rate = rospy.get_param('/drive_acceleration_factor', 0.5)
self.drive_accel = int(accel_max * accel_rate)
self.velocity_timeout = rospy.Duration(
rospy.get_param('/velocity_timeout', 2.0))
self.time_last_cmd = rospy.Time.now()
self.stop_motors()
# set up publishers and subscribers
self.corner_cmd_sub = rospy.Subscriber("/cmd_corner",
CommandCorner,
self.corner_cmd_cb,
queue_size=1)
self.drive_cmd_sub = rospy.Subscriber("/cmd_drive",
CommandDrive,
self.drive_cmd_cb,
queue_size=1)
self.enc_pub = rospy.Publisher("/encoder", JointState, queue_size=1)
self.status_pub = rospy.Publisher("/status", Status, queue_size=1)
def run(self):
"""Blocking loop which runs after initialization has completed"""
rate = rospy.Rate(8)
status = Status()
counter = 0
while not rospy.is_shutdown():
# Check to see if there are commands in the buffer to send to the motor controller
if self.drive_cmd_buffer:
drive_fcn = self.send_drive_buffer_velocity
drive_fcn(self.drive_cmd_buffer)
self.drive_cmd_buffer = None
if self.corner_cmd_buffer:
self.send_corner_buffer(self.corner_cmd_buffer)
self.corner_cmd_buffer = None
# read from roboclaws and publish
try:
self.read_encoder_values()
self.enc_pub.publish(self.current_enc_vals)
except AssertionError as read_exc:
rospy.logwarn("Failed to read encoder values")
# Downsample the rate of less important data
if (counter >= 5):
status.battery = self.read_battery()
status.temp = self.read_temperatures()
status.current = self.read_currents()
status.error_status = self.read_errors()
counter = 0
# stop the motors if we haven't received a command in a while
now = rospy.Time.now()
if now - self.time_last_cmd > self.velocity_timeout:
# rather than a hard stop, send a ramped velocity command
self.drive_cmd_buffer = CommandDrive()
self.send_drive_buffer_velocity(self.drive_cmd_buffer)
self.time_last_cmd = now # so this doesn't get called all the time
self.status_pub.publish(status)
counter += 1
rate.sleep()
def establish_roboclaw_connections(self):
"""
Attempt connecting to the roboclaws
:raises Exception: when connection to one or more of the roboclaws is unsuccessful
"""
self.rc = Roboclaw(
rospy.get_param('/motor_controller/device', "/dev/serial0"),
rospy.get_param('/motor_controller/baud_rate', 115200))
self.rc.Open()
address_raw = rospy.get_param('motor_controller/addresses')
address_list = (address_raw.split(','))
self.address = [None] * len(address_list)
for i in range(len(address_list)):
self.address[i] = int(address_list[i])
# initialize connection status to successful
all_connected = True
for address in self.address:
rospy.logdebug(
"Attempting to talk to motor controller ''".format(address))
version_response = self.rc.ReadVersion(address)
connected = bool(version_response[0])
if not connected:
rospy.logerr(
"Unable to connect to roboclaw at '{}'".format(address))
all_connected = False
else:
rospy.logdebug(
"Roboclaw version for address '{}': '{}'".format(
address, version_response[1]))
if all_connected:
rospy.loginfo(
"Sucessfully connected to RoboClaw motor controllers")
else:
raise Exception(
"Unable to establish connection to one or more of the Roboclaw motor controllers"
)
def setup_encoders(self):
"""Set up the encoders"""
for motor_name, properties in self.roboclaw_mapping.iteritems():
if "corner" in motor_name:
enc_min, enc_max = self.read_encoder_limits(
properties["address"], properties["channel"])
self.encoder_limits[motor_name] = (enc_min, enc_max)
else:
self.encoder_limits[motor_name] = (None, None)
self.rc.ResetEncoders(properties["address"])
def read_encoder_values(self):
"""Query roboclaws and update current motors status in encoder ticks"""
enc_msg = JointState()
enc_msg.header.stamp = rospy.Time.now()
for motor_name, properties in self.roboclaw_mapping.iteritems():
enc_msg.name.append(motor_name)
position = self.read_encoder_position(properties["address"],
properties["channel"])
velocity = self.read_encoder_velocity(properties["address"],
properties["channel"])
current = self.read_encoder_current(properties["address"],
properties["channel"])
enc_msg.position.append(
self.tick2position(position,
self.encoder_limits[motor_name][0],
self.encoder_limits[motor_name][1],
properties['ticks_per_rev'],
properties['gear_ratio']))
enc_msg.velocity.append(
self.qpps2velocity(velocity, properties['ticks_per_rev'],
properties['gear_ratio']))
enc_msg.effort.append(current)
self.current_enc_vals = enc_msg
def corner_cmd_cb(self, cmd):
"""
Takes the corner command and stores it in the buffer to be sent
on the next iteration of the run() loop.
"""
rospy.logdebug("Corner command callback received: {}".format(cmd))
self.time_last_cmd = rospy.Time.now()
self.corner_cmd_buffer = cmd
def send_corner_buffer(self, cmd):
"""
Sends the corner command to the motor controller.
"""
# convert position to tick
encmin, encmax = self.encoder_limits["corner_left_front"]
left_front_tick = self.position2tick(
cmd.left_front_pos, encmin, encmax,
self.roboclaw_mapping["corner_left_front"]["ticks_per_rev"],
self.roboclaw_mapping["corner_left_front"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_left_back"]
left_back_tick = self.position2tick(
cmd.left_back_pos, encmin, encmax,
self.roboclaw_mapping["corner_left_back"]["ticks_per_rev"],
self.roboclaw_mapping["corner_left_back"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_right_back"]
right_back_tick = self.position2tick(
cmd.right_back_pos, encmin, encmax,
self.roboclaw_mapping["corner_right_back"]["ticks_per_rev"],
self.roboclaw_mapping["corner_right_back"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_right_front"]
right_front_tick = self.position2tick(
cmd.right_front_pos, encmin, encmax,
self.roboclaw_mapping["corner_right_front"]["ticks_per_rev"],
self.roboclaw_mapping["corner_right_front"]["gear_ratio"])
self.send_position_cmd(
self.roboclaw_mapping["corner_left_front"]["address"],
self.roboclaw_mapping["corner_left_front"]["channel"],
left_front_tick)
self.send_position_cmd(
self.roboclaw_mapping["corner_left_back"]["address"],
self.roboclaw_mapping["corner_left_back"]["channel"],
left_back_tick)
self.send_position_cmd(
self.roboclaw_mapping["corner_right_back"]["address"],
self.roboclaw_mapping["corner_right_back"]["channel"],
right_back_tick)
self.send_position_cmd(
self.roboclaw_mapping["corner_right_front"]["address"],
self.roboclaw_mapping["corner_right_front"]["channel"],
right_front_tick)
def drive_cmd_cb(self, cmd):
"""
Takes the drive command and stores it in the buffer to be sent
on the next iteration of the run() loop.
"""
rospy.logdebug("Drive command callback received: {}".format(cmd))
self.drive_cmd_buffer = cmd
self.time_last_cmd = rospy.Time.now()
def send_drive_buffer_velocity(self, cmd):
"""
Sends the drive command to the motor controller, closed loop velocity commands
"""
props = self.roboclaw_mapping["drive_left_front"]
vel_cmd = self.velocity2qpps(cmd.left_front_vel,
props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_left_middle"]
vel_cmd = self.velocity2qpps(cmd.left_middle_vel,
props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_left_back"]
vel_cmd = self.velocity2qpps(cmd.left_back_vel, props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_back"]
vel_cmd = self.velocity2qpps(cmd.right_back_vel,
props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_middle"]
vel_cmd = self.velocity2qpps(cmd.right_middle_vel,
props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_front"]
vel_cmd = self.velocity2qpps(cmd.right_front_vel,
props["ticks_per_rev"],
props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
def send_position_cmd(self, address, channel, target_tick):
"""
Wrapper around one of the send position commands
:param address:
:param channel:
:param target_tick: int
"""
cmd_args = [
self.corner_accel, self.corner_max_vel, self.corner_accel,
target_tick, 1
]
if channel == "M1":
return self.rc.SpeedAccelDeccelPositionM1(address, *cmd_args)
elif channel == "M2":
return self.rc.SpeedAccelDeccelPositionM2(address, *cmd_args)
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
def read_encoder_position(self, address, channel):
"""Wrapper around self.rc.ReadEncM1 and self.rcReadEncM2 to simplify code"""
if channel == "M1":
val = self.rc.ReadEncM1(address)
elif channel == "M2":
val = self.rc.ReadEncM2(address)
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
assert val[0] == 1
return val[1]
def read_encoder_limits(self, address, channel):
"""Wrapper around self.rc.ReadPositionPID and returns subset of the data
:return: (enc_min, enc_max)
"""
if channel == "M1":
result = self.rc.ReadM1PositionPID(address)
elif channel == "M2":
result = self.rc.ReadM2PositionPID(address)
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
assert result[0] == 1
return (result[-2], result[-1])
def send_velocity_cmd(self, address, channel, target_qpps):
"""
Wrapper around one of the send velocity commands
:param address:
:param channel:
:param target_qpps: int
"""
# clip values
target_qpps = max(-self.roboclaw_overflow,
min(self.roboclaw_overflow, target_qpps))
if channel == "M1":
return self.rc.SpeedAccelM1(address, self.drive_accel, target_qpps)
elif channel == "M2":
return self.rc.SpeedAccelM2(address, self.drive_accel, target_qpps)
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
def read_encoder_velocity(self, address, channel):
"""Wrapper around self.rc.ReadSpeedM1 and self.rcReadSpeedM2 to simplify code"""
if channel == "M1":
val = self.rc.ReadSpeedM1(address)
elif channel == "M2":
val = self.rc.ReadSpeedM2(address)
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
assert val[0] == 1
return val[1]
def read_encoder_current(self, address, channel):
"""Wrapper around self.rc.ReadCurrents to simplify code"""
if channel == "M1":
return self.rc.ReadCurrents(address)[0]
elif channel == "M2":
return self.rc.ReadCurrents(address)[1]
else:
raise AttributeError(
"Received unknown channel '{}'. Expected M1 or M2".format(
channel))
def tick2position(self, tick, enc_min, enc_max, ticks_per_rev, gear_ratio):
"""
Convert the absolute position from ticks to radian relative to the middle position
:param tick:
:param enc_min:
:param enc_max:
:param ticks_per_rev:
:return:
"""
ticks_per_rad = ticks_per_rev / (2 * math.pi)
if enc_min is None or enc_max is None:
return tick / ticks_per_rad
mid = enc_min + (enc_max - enc_min) / 2
return (tick - mid) / ticks_per_rad * gear_ratio
def position2tick(self, position, enc_min, enc_max, ticks_per_rev,
gear_ratio):
"""
Convert the absolute position from radian relative to the middle position to ticks
Clip values that are outside the range [enc_min, enc_max]
:param position:
:param enc_min:
:param enc_max:
:param ticks_per_rev:
:return:
"""
ticks_per_rad = ticks_per_rev / (2 * math.pi)
if enc_min is None or enc_max is None:
return position * ticks_per_rad
mid = enc_min + (enc_max - enc_min) / 2
tick = int(mid + position * ticks_per_rad / gear_ratio)
return max(enc_min, min(enc_max, tick))
def qpps2velocity(self, qpps, ticks_per_rev, gear_ratio):
"""
Convert the given quadrature pulses per second to radian/s
:param qpps: int
:param ticks_per_rev:
:param gear_ratio:
:return:
"""
return qpps * 2 * math.pi / (gear_ratio * ticks_per_rev)
def velocity2qpps(self, velocity, ticks_per_rev, gear_ratio):
"""
Convert the given velocity to quadrature pulses per second
:param velocity: rad/s
:param ticks_per_rev:
:param gear_ratio:
:return: int
"""
return int(velocity * gear_ratio * ticks_per_rev / (2 * math.pi))
def read_battery(self):
"""Read battery voltage from one of the roboclaws as a proxy for all roboclaws"""
# roboclaw reports value in 10ths of a Volt
return self.rc.ReadMainBatteryVoltage(self.address[0])[1] / 10.0
def read_temperatures(self):
temp = [None] * 5
for i in range(5):
# reported by roboclaw in 10ths of a Celsius
temp[i] = self.rc.ReadTemp(self.address[i])[1] / 10.0
return temp
def read_currents(self):
currents = [None] * 10
for i in range(5):
currs = self.rc.ReadCurrents(self.address[i])
# reported by roboclaw in 10ths of an Ampere
currents[2 * i] = currs[1] / 100.0
currents[(2 * i) + 1] = currs[2] / 100.0
return currents
def stop_motors(self):
"""Stops all motors on Rover"""
for i in range(5):
self.rc.ForwardM1(self.address[i], 0)
self.rc.ForwardM2(self.address[i], 0)
def read_errors(self):
"""Checks error status of each motor controller, returns 0 if no errors reported"""
err = [0] * 5
for i in range(len(self.address)):
err[i] = self.rc.ReadError(self.address[i])[1]
if err[i] != 0:
rospy.logerr(
"Motor controller '{}' reported error code {}".format(
self.address[i], err[i]))
return err
from roboclaw import Roboclaw
import time
rc = Roboclaw("/dev/ttyS0", 115200)
i = rc.Open()
ver = rc.ReadVersion(0x80)
print(ver)
ver = rc.ReadVersion(0x81)
print(ver)
ver = rc.ReadVersion(0x82)
print(ver)
rc.ForwardM1(0x81, 100)
time.sleep(3)
rc.ForwardM1(0x81, 0)
class MotorControllers(object):
'''
Motor class contains the methods necessary to send commands to the motor controllers
for the corner and drive motors. There are many other ways of commanding the motors
from the RoboClaw, we suggest trying to write your own Closed loop feedback method for
the drive motors!
'''
def __init__(self):
## MAKE SURE TO FIX CONFIG.JSON WHEN PORTED TO THE ROVER!
#self.rc = Roboclaw( config['CONTROLLER_CONFIG']['device'],
# config['CONTROLLER_CONFIG']['baud_rate']
# )
rospy.loginfo("Initializing motor controllers")
#self.rc = Roboclaw( rospy.get_param('motor_controller_device', "/dev/serial0"),
# rospy.get_param('baud_rate', 115200))
sdev = "/dev/ttyAMA0"
sdev = "/dev/serial0"
self.rc = Roboclaw(sdev, 115200)
self.rc.Open()
self.accel = [0] * 10
self.qpps = [None] * 10
self.err = [None] * 5
# PSW
address_raw = "128,129,130,131,132"
#address_raw = rospy.get_param('motor_controller_addresses')
address_list = (address_raw.split(','))
self.address = [None] * len(address_list)
for i in range(len(address_list)):
self.address[i] = int(address_list[i])
version = 1
for address in self.address:
print("Attempting to talk to motor controller", address)
version = version & self.rc.ReadVersion(address)[0]
print version
if version != 0:
print "[Motor__init__] Sucessfully connected to RoboClaw motor controllers"
else:
raise Exception(
"Unable to establish connection to Roboclaw motor controllers")
self.killMotors()
self.enc_min = []
self.enc_max = []
for address in self.address:
#self.rc.SetMainVoltages(address, rospy.get_param('battery_low', 11)*10), rospy.get_param('battery_high', 18)*10))
if address == 131 or address == 132:
#self.rc.SetM1MaxCurrent(address, int(config['MOTOR_CONFIG']['max_corner_current']*100))
#self.rc.SetM2MaxCurrent(address, int(config['MOTOR_CONFIG']['max_corner_current']*100))
self.enc_min.append(self.rc.ReadM1PositionPID(address)[-2])
self.enc_min.append(self.rc.ReadM2PositionPID(address)[-2])
self.enc_max.append(self.rc.ReadM1PositionPID(address)[-1])
self.enc_max.append(self.rc.ReadM2PositionPID(address)[-1])
else:
#self.rc.SetM1MaxCurrent(address, int(config['MOTOR_CONFIG']['max_drive_current']*100))
#self.rc.SetM2MaxCurrent(address, int(config['MOTOR_CONFIG']['max_drive_current']*100))
self.rc.ResetEncoders(address)
rospy.set_param('enc_min', str(self.enc_min)[1:-1])
rospy.set_param('enc_max', str(self.enc_max)[1:-1])
for address in self.address:
self.rc.WriteNVM(address)
for address in self.address:
self.rc.ReadNVM(address)
#'''
voltage = self.rc.ReadMainBatteryVoltage(0x80)[1] / 10.0
lvolts = rospy.get_param('low_voltage', 11)
lvolts = rospy.get_param('low_voltage', 9)
if voltage >= lvolts:
print "[Motor__init__] Voltage is safe at: ",
print voltage,
print "V"
else:
print "[Motor__init__] Voltage is unsafe at: ", voltage, "V ( low = ", lvolts, ")"
raise Exception("Unsafe Voltage of" + voltage + " Volts")
#'''
i = 0
for address in self.address:
self.qpps[i] = self.rc.ReadM1VelocityPID(address)[4]
self.accel[i] = int(self.qpps[i] * 2)
self.qpps[i + 1] = self.rc.ReadM2VelocityPID(address)[4]
self.accel[i + 1] = int(self.qpps[i] * 2)
i += 2
accel_max = 655359
accel_rate = 0.5
self.accel_pos = int((accel_max / 2) + accel_max * accel_rate)
self.accel_neg = int((accel_max / 2) - accel_max * accel_rate)
self.errorCheck()
mids = [None] * 4
self.enc = [None] * 4
for i in range(4):
mids[i] = (self.enc_max[i] + self.enc_min[i]) / 2
#self.cornerToPosition(mids)
time.sleep(2)
self.killMotors()
def cornerToPosition(self, tick):
'''
Method to send position commands to the corner motor
:param list tick: A list of ticks for each of the corner motors to
move to, if tick[i] is 0 it instead stops that motor from moving
'''
speed, accel = 1000, 2000 #These values could potentially need tuning still
for i in range(4):
index = int(math.ceil((i + 1) / 2.0) + 2)
if tick[i] != -1:
if (i % 2):
self.rc.SpeedAccelDeccelPositionM2(self.address[index],
accel, speed, accel,
tick[i], 1)
else:
self.rc.SpeedAccelDeccelPositionM1(self.address[index],
accel, speed, accel,
tick[i], 1)
else:
if not (i % 2): self.rc.ForwardM1(self.address[index], 0)
else: self.rc.ForwardM2(self.address[index], 0)
def sendMotorDuty(self, motorID, speed):
'''
Wrapper method for an easier interface to control the drive motors,
sends open-loop commands to the motors
:param int motorID: number that corresponds to each physical motor
:param int speed: Speed for each motor, range from 0-127
'''
#speed = speed/100.0
#speed *= 0.5
addr = self.address[int(motorID / 2)]
if speed > 0:
if not motorID % 2: command = self.rc.ForwardM1
else: command = self.rc.ForwardM2
else:
if not motorID % 2: command = self.rc.BackwardM1
else: command = self.rc.BackwardM2
speed = abs(int(speed * 127))
return command(addr, speed)
def sendSignedDutyAccel(self, motorID, speed):
addr = self.address[int(motorID / 2)]
if speed > 0: accel = self.accel_pos
else: accel = self.accel_neg
if not motorID % 2: command = self.rc.DutyAccelM1
else: command = self.rc.DutyAccelM2
speed = int(32767 * speed / 100.0)
return command(addr, accel, speed)
def getCornerEnc(self):
enc = []
for i in range(4):
index = int(math.ceil((i + 1) / 2.0) + 2)
if not (i % 2):
enc.append(self.rc.ReadEncM1(self.address[index])[1])
else:
enc.append(self.rc.ReadEncM2(self.address[index])[1])
self.enc = enc
return enc
@staticmethod
def tick2deg(tick, e_min, e_max):
'''
Converts a tick to physical degrees
:param int tick : Current encoder tick
:param int e_min: The minimum encoder value based on physical stop
:param int e_max: The maximum encoder value based on physical stop
'''
return (tick - (e_max + e_min) / 2.0) * (90.0 / (e_max - e_min))
def getCornerEncAngle(self):
if self.enc[0] == None:
return -1
deg = [None] * 4
for i in range(4):
deg[i] = int(
self.tick2deg(self.enc[i], self.enc_min[i], self.enc_max[i]))
return deg
def getDriveEnc(self):
enc = [None] * 6
for i in range(6):
if not (i % 2):
enc[i] = self.rc.ReadEncM1(self.address[int(math.ceil(i /
2))])[1]
else:
enc[i] = self.rc.ReadEncM2(self.address[int(math.ceil(i /
2))])[1]
return enc
def getBattery(self):
return self.rc.ReadMainBatteryVoltage(self.address[0])[1]
def getTemp(self):
temp = [None] * 5
for i in range(5):
temp[i] = self.rc.ReadTemp(self.address[i])[1]
return temp
def getCurrents(self):
currents = [None] * 10
for i in range(5):
currs = self.rc.ReadCurrents(self.address[i])
currents[2 * i] = currs[1]
currents[(2 * i) + 1] = currs[2]
return currents
def getErrors(self):
return self.err
def killMotors(self):
'''
Stops all motors on Rover
'''
for i in range(5):
self.rc.ForwardM1(self.address[i], 0)
self.rc.ForwardM2(self.address[i], 0)
def errorCheck(self):
'''
Checks error status of each motor controller, returns 0 if any errors occur
'''
for i in range(len(self.address)):
self.err[i] = self.rc.ReadError(self.address[i])[1]
for error in self.err:
if error:
self.killMotors()
#self.writeError()
rospy.loginfo("Motor controller Error", error)
return 1
def writeError(self):
'''
Writes the list of errors to a text file for later examination
'''
f = open('errorLog.txt', 'a')
errors = ','.join(str(e) for e in self.err)
f.write('\n' + 'Errors: ' + '[' + errors + ']' + ' at: ' +
str(datetime.datetime.now()))
f.close()
#
# Initialise PID values on motor controller
#
import time # enable sleep function
from roboclaw import Roboclaw # enabling Roboclaw
rc = Roboclaw("/dev/roboclaw", 115200)
rc.Open()
rc_address = 0x80
version = rc.ReadVersion(rc_address)
if version[0] == False:
print "Roboclaw get version failed, exiting..."
sys.exit()
else:
print repr(version[1])
rc.SetM1VelocityPID(rc_address, 3000, 300, 0, 708)
rc.SetM2VelocityPID(rc_address, 3000, 300, 0, 720)
WriteNVM(self, address)
time.sleep(30)
print "Motor controller PID values intialised, exiting..."
print(format(enc2[2], '02x'))
else:
print("failed ")
print("Speed1:")
if speed1[0]:
print(speed1[1])
else:
print("failed")
print("Speed2:")
if speed2[0]:
print(speed2[1])
else:
print("failed ")
version = rc.ReadVersion()
if version[0] == False:
print("GETVERSION Failed")
else:
print(repr(version[1]))
while 1:
rc.speed_accel_m1(12000, 12000)
rc.speed_accel_m2(12000, -12000)
for i in range(0, 200):
displayspeed()
time.sleep(0.01)
rc.speed_accel_m1(12000, -12000)
rc.speed_accel_m2(12000, 12000)
for i in range(0, 200):
def hello_world():
rc = Roboclaw("/dev/ttyACM0", 115200)
rc.Open()
ver = rc.ReadVersion(0x80)
return "Flask successfully communicated with " + ver[1]
class RoboclawWrapper(object):
"""Interface between the roboclaw motor drivers and the higher level rover code"""
def __init__(self):
rospy.loginfo( "Initializing motor controllers")
# initialize attributes
self.rc = None
self.err = [None] * 5
self.address = []
self.current_enc_vals = None
self.mutex = False
self.roboclaw_mapping = rospy.get_param('~roboclaw_mapping')
self.encoder_limits = {}
self.establish_roboclaw_connections()
self.killMotors() # don't move at start
self.setup_encoders()
# save settings to non-volatile (permanent) memory
for address in self.address:
self.rc.WriteNVM(address)
for address in self.address:
self.rc.ReadNVM(address)
self.corner_max_vel = 1000
self.corner_accel = 2000
self.roboclaw_overflow = 2**15-1
accel_max = 655359
accel_rate = 0.5
self.accel_pos = int((accel_max /2) + accel_max * accel_rate)
self.accel_neg = int((accel_max /2) - accel_max * accel_rate)
self.errorCheck()
self.killMotors()
# set up publishers and subscribers
self.corner_cmd_sub = rospy.Subscriber("/cmd_corner", CommandCorner, self.corner_cmd_cb, queue_size=1)
self.drive_cmd_sub = rospy.Subscriber("/cmd_drive", CommandDrive, self.drive_cmd_cb, queue_size=1)
self.enc_pub = rospy.Publisher("/encoder", JointState, queue_size=1)
self.status_pub = rospy.Publisher("/status", Status, queue_size=1)
def run(self):
"""Blocking loop which runs after initialization has completed"""
rate = rospy.Rate(5)
mutex_rate = rospy.Rate(10)
status = Status()
counter = 0
while not rospy.is_shutdown():
while self.mutex and not rospy.is_shutdown():
mutex_rate.sleep()
self.mutex = True
# read from roboclaws and publish
try:
self.read_encoder_values()
self.enc_pub.publish(self.current_enc_vals)
except AssertionError as read_exc:
rospy.logwarn( "Failed to read encoder values")
if (counter >= 10):
status.battery = self.getBattery()
status.temp = self.getTemp()
status.current = self.getCurrents()
status.error_status = self.getErrors()
self.status_pub.publish(status)
counter = 0
self.mutex = False
counter += 1
rate.sleep()
def establish_roboclaw_connections(self):
"""
Attempt connecting to the roboclaws
:raises Exception: when connection to one or more of the roboclaws is unsuccessful
"""
self.rc = Roboclaw(rospy.get_param('/motor_controller/device', "/dev/serial0"),
rospy.get_param('/motor_controller/baud_rate', 115200))
self.rc.Open()
address_raw = rospy.get_param('motor_controller/addresses')
address_list = (address_raw.split(','))
self.address = [None]*len(address_list)
for i in range(len(address_list)):
self.address[i] = int(address_list[i])
# initialize connection status to successful
all_connected = True
for address in self.address:
rospy.logdebug("Attempting to talk to motor controller ''".format(address))
version_response = self.rc.ReadVersion(address)
connected = bool(version_response[0])
if not connected:
rospy.logerr("Unable to connect to roboclaw at '{}'".format(address))
all_connected = False
else:
rospy.logdebug("Roboclaw version for address '{}': '{}'".format(address, version_response[1]))
if all_connected:
rospy.loginfo("Sucessfully connected to RoboClaw motor controllers")
else:
raise Exception("Unable to establish connection to one or more of the Roboclaw motor controllers")
def setup_encoders(self):
"""Set up the encoders"""
for motor_name, properties in self.roboclaw_mapping.iteritems():
if "corner" in motor_name:
enc_min, enc_max = self.read_encoder_limits(properties["address"], properties["channel"])
self.encoder_limits[motor_name] = (enc_min, enc_max)
else:
self.encoder_limits[motor_name] = (None, None)
self.rc.ResetEncoders(properties["address"])
def read_encoder_values(self):
"""Query roboclaws and update current motors status in encoder ticks"""
enc_msg = JointState()
enc_msg.header.stamp = rospy.Time.now()
for motor_name, properties in self.roboclaw_mapping.iteritems():
enc_msg.name.append(motor_name)
position = self.read_encoder_position(properties["address"], properties["channel"])
velocity = self.read_encoder_velocity(properties["address"], properties["channel"])
current = self.read_encoder_current(properties["address"], properties["channel"])
enc_msg.position.append(self.tick2position(position,
self.encoder_limits[motor_name][0],
self.encoder_limits[motor_name][1],
properties['ticks_per_rev'],
properties['gear_ratio']))
enc_msg.velocity.append(self.qpps2velocity(velocity,
properties['ticks_per_rev'],
properties['gear_ratio']))
enc_msg.effort.append(current)
self.current_enc_vals = enc_msg
def corner_cmd_cb(self, cmd):
r = rospy.Rate(10)
rospy.logdebug("Corner command callback received: {}".format(cmd))
while self.mutex and not rospy.is_shutdown():
r.sleep()
self.mutex = True
# convert position to tick
encmin, encmax = self.encoder_limits["corner_left_front"]
left_front_tick = self.position2tick(cmd.left_front_pos, encmin, encmax,
self.roboclaw_mapping["corner_left_front"]["ticks_per_rev"],
self.roboclaw_mapping["corner_left_front"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_left_back"]
left_back_tick = self.position2tick(cmd.left_back_pos, encmin, encmax,
self.roboclaw_mapping["corner_left_back"]["ticks_per_rev"],
self.roboclaw_mapping["corner_left_back"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_right_back"]
right_back_tick = self.position2tick(cmd.right_back_pos, encmin, encmax,
self.roboclaw_mapping["corner_right_back"]["ticks_per_rev"],
self.roboclaw_mapping["corner_right_back"]["gear_ratio"])
encmin, encmax = self.encoder_limits["corner_right_front"]
right_front_tick = self.position2tick(cmd.right_front_pos, encmin, encmax,
self.roboclaw_mapping["corner_right_front"]["ticks_per_rev"],
self.roboclaw_mapping["corner_right_front"]["gear_ratio"])
self.send_position_cmd(self.roboclaw_mapping["corner_left_front"]["address"],
self.roboclaw_mapping["corner_left_front"]["channel"],
left_front_tick)
self.send_position_cmd(self.roboclaw_mapping["corner_left_back"]["address"],
self.roboclaw_mapping["corner_left_back"]["channel"],
left_back_tick)
self.send_position_cmd(self.roboclaw_mapping["corner_right_back"]["address"],
self.roboclaw_mapping["corner_right_back"]["channel"],
right_back_tick)
self.send_position_cmd(self.roboclaw_mapping["corner_right_front"]["address"],
self.roboclaw_mapping["corner_right_front"]["channel"],
right_front_tick)
self.mutex = False
def drive_cmd_cb(self, cmd):
r = rospy.Rate(10)
rospy.logdebug("Drive command callback received: {}".format(cmd))
while self.mutex and not rospy.is_shutdown():
r.sleep()
self.mutex = True
props = self.roboclaw_mapping["drive_left_front"]
vel_cmd = self.velocity2qpps(cmd.left_front_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_left_middle"]
vel_cmd = self.velocity2qpps(cmd.left_middle_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_left_back"]
vel_cmd = self.velocity2qpps(cmd.left_back_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_back"]
vel_cmd = self.velocity2qpps(cmd.right_back_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_middle"]
vel_cmd = self.velocity2qpps(cmd.right_middle_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
props = self.roboclaw_mapping["drive_right_front"]
vel_cmd = self.velocity2qpps(cmd.right_front_vel, props["ticks_per_rev"], props["gear_ratio"])
self.send_velocity_cmd(props["address"], props["channel"], vel_cmd)
self.mutex = False
def send_position_cmd(self, address, channel, target_tick):
"""
Wrapper around one of the send position commands
:param address:
:param channel:
:param target_tick: int
"""
cmd_args = [self.corner_accel, self.corner_max_vel, self.corner_accel, target_tick, 1]
if channel == "M1":
return self.rc.SpeedAccelDeccelPositionM1(address, *cmd_args)
elif channel == "M2":
return self.rc.SpeedAccelDeccelPositionM2(address, *cmd_args)
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
def read_encoder_position(self, address, channel):
"""Wrapper around self.rc.ReadEncM1 and self.rcReadEncM2 to simplify code"""
if channel == "M1":
val = self.rc.ReadEncM1(address)
elif channel == "M2":
val = self.rc.ReadEncM2(address)
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
assert val[0] == 1
return val[1]
def read_encoder_limits(self, address, channel):
"""Wrapper around self.rc.ReadPositionPID and returns subset of the data
:return: (enc_min, enc_max)
"""
if channel == "M1":
result = self.rc.ReadM1PositionPID(address)
elif channel == "M2":
result = self.rc.ReadM2PositionPID(address)
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
assert result[0] == 1
return (result[-2], result[-1])
def send_velocity_cmd(self, address, channel, target_qpps):
"""
Wrapper around one of the send velocity commands
:param address:
:param channel:
:param target_qpps: int
"""
# clip values
target_qpps = max(-self.roboclaw_overflow, min(self.roboclaw_overflow, target_qpps))
accel = self.accel_pos
if target_qpps < 0:
accel = self.accel_neg
if channel == "M1":
return self.rc.DutyAccelM1(address, accel, target_qpps)
elif channel == "M2":
return self.rc.DutyAccelM2(address, accel, target_qpps)
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
def read_encoder_velocity(self, address, channel):
"""Wrapper around self.rc.ReadSpeedM1 and self.rcReadSpeedM2 to simplify code"""
if channel == "M1":
val = self.rc.ReadSpeedM1(address)
elif channel == "M2":
val = self.rc.ReadSpeedM2(address)
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
assert val[0] == 1
return val[1]
def read_encoder_current(self, address, channel):
"""Wrapper around self.rc.ReadCurrents to simplify code"""
if channel == "M1":
return self.rc.ReadCurrents(address)[0]
elif channel == "M2":
return self.rc.ReadCurrents(address)[1]
else:
raise AttributeError("Received unknown channel '{}'. Expected M1 or M2".format(channel))
def tick2position(self, tick, enc_min, enc_max, ticks_per_rev, gear_ratio):
"""
Convert the absolute position from ticks to radian relative to the middle position
:param tick:
:param enc_min:
:param enc_max:
:param ticks_per_rev:
:return:
"""
ticks_per_rad = ticks_per_rev / (2 * math.pi)
if enc_min is None or enc_max is None:
return tick / ticks_per_rad
mid = enc_min + (enc_max - enc_min) / 2
# positive values correspond to the wheel turning left (z-axis points up)
return -(tick - mid) / ticks_per_rad * gear_ratio
def position2tick(self, position, enc_min, enc_max, ticks_per_rev, gear_ratio):
"""
Convert the absolute position from radian relative to the middle position to ticks
Clip values that are outside the range [enc_min, enc_max]
:param position:
:param enc_min:
:param enc_max:
:param ticks_per_rev:
:return:
"""
# positive values correspond to the wheel turning left (z-axis points up)
position *= -1
ticks_per_rad = ticks_per_rev / (2 * math.pi)
if enc_min is None or enc_max is None:
return position * ticks_per_rad
mid = enc_min + (enc_max - enc_min) / 2
tick = int(mid + position * ticks_per_rad / gear_ratio)
return max(enc_min, min(enc_max, tick))
def qpps2velocity(self, qpps, ticks_per_rev, gear_ratio):
"""
Convert the given quadrature pulses per second to radian/s
:param qpps: int
:param ticks_per_rev:
:param gear_ratio:
:return:
"""
return qpps / (2 * math.pi * gear_ratio * ticks_per_rev)
def velocity2qpps(self, velocity, ticks_per_rev, gear_ratio):
"""
Convert the given velocity to quadrature pulses per second
:param velocity: rad/s
:param ticks_per_rev:
:param gear_ratio:
:return: int
"""
return int(velocity * 2 * math.pi * gear_ratio * ticks_per_rev)
def getBattery(self):
return self.rc.ReadMainBatteryVoltage(self.address[0])[1]
def getTemp(self):
temp = [None] * 5
for i in range(5):
temp[i] = self.rc.ReadTemp(self.address[i])[1]
return temp
def getCurrents(self):
currents = [None] * 10
for i in range(5):
currs = self.rc.ReadCurrents(self.address[i])
currents[2*i] = currs[1]
currents[(2*i) + 1] = currs[2]
return currents
def getErrors(self):
return self.err
def killMotors(self):
"""Stops all motors on Rover"""
for i in range(5):
self.rc.ForwardM1(self.address[i], 0)
self.rc.ForwardM2(self.address[i], 0)
def errorCheck(self):
"""Checks error status of each motor controller, returns 0 if any errors occur"""
for i in range(len(self.address)):
self.err[i] = self.rc.ReadError(self.address[i])[1]
for error in self.err:
if error:
self.killMotors()
rospy.logerr("Motor controller Error: \n'{}'".format(error))
#!/usr/bin/env python
from roboclaw import Roboclaw
import serial
rc = Roboclaw("/dev/ttyS0",115200)
rc.Open()
rc.ReadVersion(128)
print("Connected")
class SerialDriver(object):
'''
Class for serial UART interface to the RoboClaw Motor Controllers
'''
def __init__(self):
rospy.loginfo("Initilizing the motor controllers..")
self.e_stop = 1
self.reg_enabled = 0
self.temp = 0
self.error = 0
self.voltage = 0
self.currents = [0,0]
self._thread_lock = False
self.prev_enc_ts = None
self.prev_tick = [None, None]
self.start_time = datetime.now()
self.left_currents = []
self.right_currents = []
self.max_left_integrator = 0
self.max_right_integrator = 0
self.left_integrator = 0
self.right_integrator = 0
self.motor_lockout = 0
self._cmd_buf_flag = 0
self._l_vel_cmd_buf = 0
self._r_vel_cmd_buf = 0
self.battery_percent = 0
self.shutdown_warning = False
self.shutdown_flag = False
self.rate = rospy.get_param("/puffer/rate")
self.delta_t = 2.0/self.rate
self.rc = Roboclaw(
rospy.get_param("/motor_controllers/serial_device_name"),
rospy.get_param("/motor_controllers/baud_rate")
)
self.rc.Open()
self._set_operating_params()
self._get_version()
self.set_estop(0) #Clears E-stop pin
self.enable_12v_reg(1) #Disables 12V Regulator
self.kill_motors() #Start the motors not moving
#Private Methods
def _get_version(self):
'''
Version check for communication verification to the motor controllers
returns ther version number if sucessful, and 0 if not
'''
version = self.rc.ReadVersion(self.address)
if version != 0:
rospy.loginfo("[Motor __init__ ] Sucessfully connected to all Motor Controllers!")
rospy.loginfo( version )
rospy.set_param("/motor_controllers/firmware_version",version)
else:
raise Exception("Unable to establish connection to Motor controllers")
return version
def _set_operating_params(self):
'''
Sets all the operating parameters for control of PUFFER, Pinouts, and
safety parameters.
returns None
'''
#GPIO settings for E-stop and Regulator Enable pins
self.e_stop_pin = rospy.get_param("/gpio_pins/e_stop",1)
self.reg_en_pin = rospy.get_param("/gpio_pins/reg_en",1)
try:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.e_stop_pin, GPIO.OUT)
GPIO.setup(self.reg_en_pin, GPIO.OUT)
except:
pass
#Threadlock used for serial comm to RoboClaw
self.thread_timeout = rospy.get_param("/threadlock/timeout")
#Motor operating parameters
self.wheel_d = rospy.get_param("/wheels/diameter")
self.enc_cpr = rospy.get_param("/wheels/encoder/cts_per_rev")
factor = rospy.get_param("/wheels/encoder/factor")
stage_1 = rospy.get_param("/wheels/gearbox/stage1")
stage_2 = rospy.get_param("/wheels/gearbox/stage2")
stage_3 = rospy.get_param("/wheels/gearbox/stage3")
self.accel_const = rospy.get_param("/puffer/accel_const")
self.max_vel_per_s = rospy.get_param("/puffer/max_vel_per_s")
self.tick_per_rev = int(self.enc_cpr * factor * stage_1 * stage_2 * stage_3)
rospy.loginfo(self.tick_per_rev)
rospy.set_param("tick_per_rev", self.tick_per_rev)
self.max_cts_per_s = int((self.max_vel_per_s * self.tick_per_rev)/(math.pi * self.wheel_d))
self.max_accel = int(self.max_cts_per_s * self.accel_const)
rospy.set_param("max_cts_per_s", self.max_cts_per_s)
rospy.set_param("max_accel", self.max_accel)
self.address = rospy.get_param("/motor_controllers/address", 0x80)
self.rc.SetMainVoltages(self.address,int(rospy.get_param("/motor_controllers/battery/main/low", 12.0) * 10),int(rospy.get_param("motor_controllers/battery/main/high", 18.0 ) * 10))
self.rc.SetLogicVoltages(self.address,int(rospy.get_param("/motor_controllers/battery/logic/low") * 10),int(rospy.get_param("motor_controllers/battery/logic/high") * 10))
self.max_current = rospy.get_param("/motor_controllers/current/max_amps")
self.motor_lockout_time = rospy.get_param("/puffer/motor_lockout_time")
m1p = rospy.get_param("/motor_controllers/m1/p")
m1i = rospy.get_param("/motor_controllers/m1/i")
m1d = rospy.get_param("/motor_controllers/m1/d")
m1qpps = rospy.get_param("/motor_controllers/m1/qpps")
m2p = rospy.get_param("/motor_controllers/m2/p")
m2i = rospy.get_param("/motor_controllers/m2/i")
m2d = rospy.get_param("/motor_controllers/m2/d")
m2qpps = rospy.get_param("/motor_controllers/m2/qpps")
self.battery_max_time = rospy.get_param("/battery/max_time")
self.battery_max_volts = rospy.get_param("/battery/max_volts")
self.battery_coef_a = rospy.get_param("/battery/a")
self.battery_coef_b = rospy.get_param("/battery/b")
self.battery_coef_c = rospy.get_param("/battery/c")
self.battery_warning = rospy.get_param("/battery/warning_percent")
self.battery_shutdown = rospy.get_param("/battery/shutdown_percent")
self.rc.SetM1VelocityPID(self.address,m1p, m1i, m1d, m1qpps)
self.rc.SetM2VelocityPID(self.address,m2p, m2i, m2d, m2qpps)
self.rc.WriteNVM(self.address)
time.sleep(0.001)
self.rc.ReadNVM(self.address)
def _lock_thread(self,lock):
'''
Checks the thread lock and then grabs it when it frees up
no return value
'''
if (lock):
start = time.time()
while self._thread_lock:
#rospy.loginfo("in threadlock")
if time.time() - start > self.thread_timeout:
raise Exception("Thread lock timeout")
time.sleep(0.001)
self._thread_lock = True
else:
self._thread_lock = False
def _get_Temp(self):
'''
Gets the temperature of the motor controllers
return:
list [2] (int): Temperature values * 10 degrees C
'''
self._lock_thread(1)
self.temp = self.rc.ReadTemp(self.address)[1]
self._lock_thread(0)
self.temp = int(self.temp*100)/1000.0
return self.temp
def _get_Voltage(self):
'''
Gets the voltage of the motor controllers
return:
voltage (int) : Voltage values * 10 volts
'''
self._lock_thread(1)
v = self.rc.ReadMainBatteryVoltage(self.address)[1]
v = int(v*100)/1000.0
if v != 0:
self.voltage = v + 0.4 #accounts for the voltage drop in the diode
self._lock_thread(0)
return v
def _get_Currents(self):
'''
Gets the current of the motor controllers
return:
list [2] (int): Current values * 100 Amps
'''
self._lock_thread(1)
cur = self.rc.ReadCurrents(self.address)
self._lock_thread(0)
r_current = int(cur[1])/100.0
l_current = int(cur[2])/100.0
self.currents = [l_current,r_current]
self.left_currents.insert(0, l_current)
self.right_currents.insert(0, r_current)
if (len(self.left_currents) > self.rate/2):
del self.left_currents[-1]
del self.right_currents[-1]
left_power = 0
right_power = 0
for i in range(len(self.left_currents)):
left_power += math.pow(self.left_currents[i],2) * self.delta_t
right_power += math.pow(self.right_currents[i],2) * self.delta_t
if (left_power >= math.pow(self.max_current,2) or right_power >= math.pow(self.max_current,2)):
rospy.loginfo("Motor power exceeded max allowed! Disabling motors for %d seconds" %(self.motor_lockout_time))
self.motor_lockout = 1
self.set_estop(1)
self.lockout_timestamp = time.time()
if (self.motor_lockout and (time.time() - self.lockout_timestamp >= self.motor_lockout_time)):
rospy.loginfo("Re-enabling the motors from timeout lock")
self.motor_lockout = 0
self.set_estop(0)
self.left_integrator = left_power
self.right_integrator = right_power
self.max_left_integrator = max(self.max_left_integrator, self.left_integrator)
self.max_right_integrator = max(self.max_right_integrator, self.right_integrator)
#print self.left_integrator, self.right_integrator
return self.currents
def _get_Errors(self):
'''
Gets the error status of the motor controllers
return:
error (int): Error code for motor controller
'''
self._lock_thread(1)
self.error = self.rc.ReadError(self.address)[1]
self._lock_thread(0)
return self.error
def _get_Encs(self):
'''
Gets the encoder values of the motor controllers
return:
list [2] (int): Speed of motors in radians/s, computed at each delta T
'''
self._lock_thread(1)
r_enc = self.rc.ReadEncM1(self.address)[1]
l_enc = self.rc.ReadEncM2(self.address)[1]
dt = datetime.now()
self._lock_thread(0)
if self.prev_tick == [None, None]:
l_vel_rad_s, r_vel_rad_s = 0,0
self.timestamp = 0
else:
delta_t = ((dt-self.prev_enc_ts).microseconds)/1000000.0
self.timestamp = int(self.timestamp + (delta_t * 100000))
l_vel = (l_enc - self.prev_tick[0])/(delta_t)
r_vel = (r_enc - self.prev_tick[1])/(delta_t)
l_vel_rad_s = l_vel * (2 * math.pi/self.tick_per_rev)
r_vel_rad_s = r_vel * (2 * math.pi/self.tick_per_rev)
l_vel_rad_s = int(l_vel_rad_s * 1000)/1000.0
r_vel_rad_s = int(r_vel_rad_s * 1000)/1000.0
self.prev_enc_ts = dt
self.prev_tick = [l_enc, r_enc]
self.enc = [l_vel_rad_s, r_vel_rad_s]
return l_vel_rad_s, r_vel_rad_s
def _send_motor_cmds(self):
l_vel = self._l_vel_cmd_buf
r_vel = self._r_vel_cmd_buf
l_vel *= (self.tick_per_rev/(2*math.pi))
r_vel *= (self.tick_per_rev/(2*math.pi))
l_vel = max(min(l_vel,self.max_cts_per_s), -self.max_cts_per_s)
r_vel = max(min(r_vel,self.max_cts_per_s), -self.max_cts_per_s)
if (( abs(l_vel) <= self.max_cts_per_s) and (abs(r_vel) <= self.max_cts_per_s)):
if not self.motor_lockout:
self._lock_thread(1)
self.rc.SpeedAccelM1(self.address, self.max_accel, int(r_vel))
self.rc.SpeedAccelM2(self.address, self.max_accel, int(l_vel))
self._lock_thread(0)
else:
rospy.loginfo( "values not in accepted range" )
self.send_motor_cmds(0,0)
# Public Methods
def set_estop(self,val):
'''
Sets the E-stop pin to stop Motor control movement until cleared
Parameters:
val (int):
0 - Clears E-stop
1 - Sets E-stop, disabling motor movement
no return value
'''
if (val != self.e_stop):
if val:
rospy.loginfo( "Enabling the E-stop")
GPIO.output(self.e_stop_pin, 1)
self.e_stop = 1
else:
rospy.loginfo( "Clearing the E-stop")
GPIO.output(self.e_stop_pin, 0)
self.e_stop = 0
def battery_state_esimator(self):
x = self.voltage
y = math.pow(x,2) * self.battery_coef_a + self.battery_coef_b * x + self.battery_coef_c
self.battery_percent = (100 * y/float(self.battery_max_time))
if (self.battery_percent <= self.battery_warning):
self.shutdown_warning = True
else:
self.shutdown_warning = False
if (self.battery_percent <= self.battery_shutdown):
self.shutdown_flag = True
self.set_estop(1)
def update_cmd_buf(self, l_vel, r_vel):
'''
Updates the command buffers and sets the flag that new command has been received
Parameters:
l_vel (int): [-0.833, 0.833] units of [rad/s]
r_vel (int): [-0.833, 0.833] units of [rad/s]
no return value
'''
self._l_vel_cmd_buf = l_vel
self._r_vel_cmd_buf = r_vel
self._cmd_buf_flag = 1
def kill_motors(self):
'''
Stops all motors on the assembly
'''
self._lock_thread(1)
self.rc.ForwardM1(self.address, 0)
self.rc.ForwardM2(self.address, 0)
self._lock_thread(0)
def loop(self, counter):
'''
Gets the data from the motor controllers to populate as class variables
all data function classes are private because of threadlocks
Downsample non-critical values to keep serial comm line free
Parameters:
counter (int):
no return value
'''
if (self._cmd_buf_flag):
self._send_motor_cmds()
self._cmd_buf_flag = 0
self._get_Encs()
if not counter % 2:
self._get_Currents()
if not counter % 5:
self._get_Errors()
if not counter % 20:
self._get_Temp()
self._get_Voltage()
self.battery_state_esimator()
def enable_12v_reg(self, en):
'''
Turns on/off the 12V regulator GPIO pin
Parameters:
en (int):
0: Disabled
1: Enabled
'''
try:
if (en != self.reg_enabled):
if en:
rospy.loginfo("Enabling the 12V Regulator")
GPIO.output(self.reg_en_pin, 1)
self.reg_enabled = 1
else:
rospy.loginfo("Disabling the 12V Regulator")
GPIO.output(self.reg_en_pin, 0)
self.reg_enabled = 0
except:
pass
def cleanup(self):
'''
Cleans up the motor controller node, stopping motors and killing all threads
no return value
'''
rospy.loginfo("Cleaning up the motor_controller node..")
self._thread_lock = False
self.kill_motors()
self.set_estop(1)
try:
GPIO.cleanup()
except:
pass
class Motor(object):
'''
Motor class contains the methods necessary to send commands to the motor controllers
for the corner and drive motors. There are many other ways of commanding the motors
from the RoboClaw, we suggest trying to write your own Closed loop feedback method for
the drive motors!
'''
def __init__(self,config):
super(Motor,self).__init__(config)
self.rc = Roboclaw( config['CONTROLLER_CONFIG']['device'],
config['CONTROLLER_CONFIG']['baud_rate']
)
self.rc.Open()
self.address = config['MOTOR_CONFIG']['controller_address']
self.accel = [0] * 10
self.qpps = [None] * 10
self.err = [None] * 5
version = 1
for address in self.address:
version = version & self.rc.ReadVersion(address)[0]
print(self.rc.ReadVersion(address)[0])
if version != 0:
print("[Motor__init__] Sucessfully connected to RoboClaw motor controllers")
else:
print("-----")
raise Exception("Unable to establish connection to Roboclaw motor controllers")
self.enc_min =[]
self.enc_max =[]
for address in self.address:
self.rc.SetMainVoltages(address,
int(config['BATTERY_CONFIG']['low_voltage']*10),
int(config['BATTERY_CONFIG']['high_voltage']*10)
)
if address == 131 or address == 132:
self.rc.SetM1MaxCurrent(address, int(config['MOTOR_CONFIG']['max_corner_current']*100))
self.rc.SetM2MaxCurrent(address, int(config['MOTOR_CONFIG']['max_corner_current']*100))
self.enc_min.append(self.rc.ReadM1PositionPID(address)[-2])
self.enc_min.append(self.rc.ReadM2PositionPID(address)[-2])
self.enc_max.append(self.rc.ReadM1PositionPID(address)[-1])
self.enc_max.append(self.rc.ReadM2PositionPID(address)[-1])
else:
self.rc.SetM1MaxCurrent(address, int(config['MOTOR_CONFIG']['max_drive_current']*100))
self.rc.SetM2MaxCurrent(address, int(config['MOTOR_CONFIG']['max_drive_current']*100))
self.rc.ResetEncoders(address)
for address in self.address:
self.rc.WriteNVM(address)
for address in self.address:
self.rc.ReadNVM(address)
voltage = self.rc.ReadMainBatteryVoltage(0x80)[1]/10.0
if voltage >= config['BATTERY_CONFIG']['low_voltage']:
print("[Motor__init__] Voltage is safe at: ",voltage, "V")
else:
raise Exception("Unsafe Voltage of" + voltage + " Volts")
i = 0
for address in self.address:
self.qpps[i] = self.rc.ReadM1VelocityPID(address)[4]
self.accel[i] = int(self.qpps[i]*2)
self.qpps[i+1] = self.rc.ReadM2VelocityPID(address)[4]
self.accel[i+1] = int(self.qpps[i]*2)
i+=2
self.errorCheck()
def cornerToPosition(self,tick):
'''
Method to send position commands to the corner motor
:param list tick: A list of ticks for each of the corner motors to
move to, if tick[i] is 0 it instead stops that motor from moving
'''
speed, accel = 1000,2000 #These values could potentially need tuning still
self.errorCheck()
for i in range(4):
index = int(math.ceil((i+1)/2.0)+2)
if tick[i]:
if (i % 2): self.rc.SpeedAccelDeccelPositionM2(self.address[index],accel,speed,accel,tick[i],1)
else: self.rc.SpeedAccelDeccelPositionM1(self.address[index],accel,speed,accel,tick[i],1)
else:
if not (i % 2): self.rc.ForwardM1(self.address[index],0)
else: self.rc.ForwardM2(self.address[index],0)
def sendMotorDuty(self, motorID, speed):
'''
Wrapper method for an easier interface to control the drive motors,
sends open-loop commands to the motors
:param int motorID: number that corresponds to each physical motor
:param int speed: Speed for each motor, range from 0-127
'''
self.errorCheck()
addr = self.address[int(motorID/2)]
if speed > 0:
if not motorID % 2: command = self.rc.ForwardM1
else: command = self.rc.ForwardM2
else:
if not motorID % 2: command = self.rc.BackwardM1
else: command = self.rc.BackwardM2
speed = abs(int(speed * 127))
return command(addr,speed)
def killMotors(self):
'''
Stops all motors on Rover
'''
for i in range(5):
self.rc.ForwardM1(self.address[i],0)
self.rc.ForwardM2(self.address[i],0)
def errorCheck(self):
'''
Checks error status of each motor controller, returns 0 if any errors occur
'''
for i in range(5):
self.err[i] = self.rc.ReadError(self.address[i])[1]
for error in self.err:
if error:
self.killMotors()
self.writeError()
raise Exception("Motor controller Error", error)
return 1
def writeError(self):
'''
Writes the list of errors to a text file for later examination
'''
f = open('errorLog.txt','a')
errors = ','.join(str(e) for e in self.err)
f.write('\n' + 'Errors: ' + '[' + errors + ']' + ' at: ' + str(datetime.datetime.now()))
f.close()
class Argo:
def __init__(self):
print "Trying to connect to motors..."
self.motor_status = 0
try: # First step: connect to Roboclaw controller
self.port = "/dev/ttyACM0"
self.argo = Roboclaw(self.port, 115200)
self.argo.Open()
self.address = 0x80 # Roboclaw address
self.version = self.argo.ReadVersion(
self.address
) # Test connection by getting the Roboclaw version
except:
print "Unable to connect to Roboclaw port: ", self.port, "\nCheck your port and setup then try again.\nExiting..."
self.motor_status = 1
return
# Follow through with setup if Roboclaw connected successfully
print "Roboclaw detected! Version:", self.version[1]
print "Setting up..."
# Set up publishers and subscribers
self.cmd_sub = rospy.Subscriber("/argo/wheel_speeds", Twist,
self.get_wheel_speeds)
self.encoder = rospy.Publisher("/argo/encoders", Encoder, queue_size=5)
# Set class variables
self.radius = 0.0728 # Wheel radius (m)
self.distance = 0.372 # Distance between wheels (m)
self.max_speed = 13000 # Global max speed (in QPPS)
self.session_max = 13000 # Max speed for current session (in QPPS)
self.rev_counts = 3200 # Encoder clicks per rotation
self.circ = .4574 # Wheel circumference (m)
self.counts_per_m = int(self.rev_counts /
self.circ) # Encoder counts per meter
self.conv = self.rev_counts / (2 * pi) # Wheel speed conversion factor
self.Lref = 0 # Left wheel reference speed
self.Rref = 0 # Right wheel reference speed
self.Lprev_err = 0 # Previous error value for left wheel
self.Rprev_err = 0 # Previous error value for right wheel
self.Kp = .004 # Proportional gain
self.Kd = .001 # Derivative gain
self.Ki = .0004 # Integral gain
self.LEint = 0 # Left wheel integral gain
self.REint = 0 # Right wheel integral gain
print "Setup complete, let's roll homie ;)\n\n"
def reset_controller(self):
self.LEint = 0
self.REint = 0
self.Lprev_err = 0
self.Rprev_err = 0
def pd_control(self, Lspeed, Rspeed):
# Controller outputs a percent effort (0 - 100) which will be applied to the reference motor speeds
feedback = self.read_encoders()
M1 = feedback.speedM1
M2 = feedback.speedM2
# Calculate current speed error for both motors
Lerror = Lspeed - M2
Rerror = Rspeed - M1
# Calculate derivative error
Ldot = Lerror - self.Lprev_err
Rdot = Rerror - self.Rprev_err
# Calculate integral error
self.LEint += Lerror
self.REint += Rerror
# Compute effort
Lu = self.Kp * Lerror + self.Kd * Ldot + self.Ki * self.LEint
Ru = self.Kp * Rerror + self.Kd * Rdot + self.Ki * self.REint
# Saturate efforts if it is over +/-100%
if Lu > 100.0:
Lu = 100.0
elif Lu < -100.0:
Lu = -100
if Ru > 100.0:
Ru = 100.0
elif Ru < -100.0:
Ru = -100.0
# Set new L and R speeds
Lspeed = int((Lu / 100) * self.session_max)
Rspeed = int((Ru / 100) * self.session_max)
self.Rprev_err = Rerror
self.Lprev_err = Lerror
return (Lspeed, Rspeed)
def move(self, Lspeed, Rspeed):
if Lspeed == 0 and Rspeed == 0:
self.argo.SpeedM1(self.address, 0)
self.argo.SpeedM2(self.address, 0)
return
(Lspeed, Rspeed) = self.pd_control(Lspeed, Rspeed)
self.argo.SpeedM1(self.address, Rspeed)
self.argo.SpeedM2(self.address, Lspeed)
def force_speed(self, Lspeed, Rspeed):
self.argo.SpeedM1(self.address, Rspeed)
self.argo.SpeedM2(self.address, Lspeed)
def get_velocity(self, vx, vy, ax, ay):
v = sqrt((vx * vx) + (vy * vy)) # Linear velocity
# if vx < 0:
# v = -v
w = (vy * ax - vx * ay) / ((vx * vx) + (vy * vy)) # Angular velocity
return (v, w)
def get_wheel_speeds(self, data):
r = self.radius
d = self.distance
v = data.linear.x
w = data.angular.z
# Calculate left/right wheel speeds and round to nearest integer value
Ul = (v - w * d) / r
Ur = (v + w * d) / r
# Convert to QPPS
Rspeed = int(round(Ur * self.conv))
Lspeed = int(round(Ul * self.conv))
if Rspeed > 0:
Rspeed = Rspeed + 80
elif Rspeed < 0:
Rspeed = Rspeed - 20
self.move(Lspeed, Rspeed)
def reset_encoders(self):
self.argo.ResetEncoders(self.address)
def read_encoders(self):
mov = Encoder()
t = rospy.Time.now()
# Get encoder values from Roboclaw
enc2 = self.argo.ReadEncM2(self.address)
enc1 = self.argo.ReadEncM1(self.address)
# Get motor speeds
sp1 = self.argo.ReadSpeedM1(self.address)
sp2 = self.argo.ReadSpeedM2(self.address)
# Extract encoder ticks and motor speeds, and publish to /argo/encoders topic
mov.stamp.secs = t.secs
mov.stamp.nsecs = t.nsecs
mov.encoderM1 = enc1[1]
mov.encoderM2 = enc2[1]
mov.speedM1 = sp1[1]
mov.speedM2 = sp2[1]
return mov
def check_battery(self):
battery = self.argo.ReadMainBatteryVoltage(self.address)
return battery[1]
class MotorControllersV2(object):
'''
Motor class contains the methods necessary to send commands to the motor controllers
for the corner and drive motors. There are many other ways of commanding the motors
from the RoboClaw, we suggest trying to write your own Closed loop feedback method for
the drive motors!
'''
def __init__(self):
## MAKE SURE TO FIX CONFIG.JSON WHEN PORTED TO THE ROVER!
#self.rc = Roboclaw( config['CONTROLLER_CONFIG']['device'],
# config['CONTROLLER_CONFIG']['baud_rate']
# )
rospy.loginfo("Initializing motor controllers")
#self.rc = Roboclaw( rospy.get_param('motor_controller_device', "/dev/serial0"),
# rospy.get_param('baud_rate', 115200))
self.rc = Roboclaw("/dev/ttyS0", 115200)
self.rc.Open()
self.accel = [0] * 10
self.qpps = [None] * 10
self.err = [None] * 5
address_raw = rospy.get_param('motor_controller_addresses')
address_list = (address_raw.split(','))
self.address = [None] * len(address_list)
for i in range(len(address_list)):
self.address[i] = int(address_list[i])
version = 1
for address in self.address:
rospy.loginfo("Attempting to talk to motor controller: " +
str(address))
version = version & self.rc.ReadVersion(address)[0]
rospy.loginfo("Motor controller version: " + str(version))
if version != 0:
rospy.loginfo(
"Sucessfully connected to RoboClaw motor controllers")
else:
rospy.logerr(
"Unable to establish connection to Roboclaw motor controllers")
raise Exception(
"Unable to establish connection to Roboclaw motor controllers")
self.killMotors()
for address in self.address:
self.rc.ResetEncoders(address)
for address in self.address:
self.rc.WriteNVM(address)
for address in self.address:
self.rc.ReadNVM(address)
'''
voltage = self.rc.ReadMainBatteryVoltage(0x80)[1]/10.0
if voltage >= rospy.get_param('low_voltage',11):
print "[Motor__init__] Voltage is safe at: ",voltage, "V"
else:
raise Exception("Unsafe Voltage of" + voltage + " Volts")
'''
i = 0
for address in self.address:
self.qpps[i] = self.rc.ReadM1VelocityPID(address)[4]
self.accel[i] = int(self.qpps[i] * 2)
self.qpps[i + 1] = self.rc.ReadM2VelocityPID(address)[4]
self.accel[i + 1] = int(self.qpps[i] * 2)
i += 2
accel_max = 655359
accel_rate = 0.5
self.accel_pos = int((accel_max / 2) + accel_max * accel_rate)
self.accel_neg = int((accel_max / 2) - accel_max * accel_rate)
self.errorCheck()
self.drive_enc = [None] * 10
time.sleep(2)
self.killMotors()
def sendMotorDuty(self, motorID, speed):
'''
Wrapper method for an easier interface to control the drive motors,
sends open-loop commands to the motors
:param int motorID: number that corresponds to each physical motor
:param int speed: Speed for each motor, range from 0-127
'''
#speed = speed/100.0
#speed *= 0.5
addr = self.address[int(motorID / 2)]
if speed > 0:
if not motorID % 2: command = self.rc.ForwardM1
else: command = self.rc.ForwardM2
else:
if not motorID % 2: command = self.rc.BackwardM1
else: command = self.rc.BackwardM2
speed = abs(int(speed * 127))
return command(addr, speed)
def sendSignedDutyAccel(self, motorID, speed):
addr = self.address[int(motorID / 2)]
if speed > 0: accel = self.accel_pos
else: accel = self.accel_neg
if not motorID % 2: command = self.rc.DutyAccelM1
else: command = self.rc.DutyAccelM2
speed = int(32767 * speed / 100.0)
return command(addr, accel, speed)
def getDriveEnc(self):
drive_enc = []
for i in range(10):
index = int(math.ceil((i + 1) / 2.0) - 1)
if not (i % 2):
drive_enc.append(self.rc.ReadEncM1(self.address[index])[1])
else:
drive_enc.append(self.rc.ReadEncM2(self.address[index])[1])
self.drive_enc = drive_enc
return drive_enc
def getBattery(self):
return self.rc.ReadMainBatteryVoltage(self.address[0])[1]
def getTemp(self):
temp = [None] * 5
for i in range(5):
temp[i] = self.rc.ReadTemp(self.address[i])[1]
return temp
def getCurrents(self):
currents = [None] * 10
for i in range(5):
currs = self.rc.ReadCurrents(self.address[i])
currents[2 * i] = currs[1]
currents[(2 * i) + 1] = currs[2]
return currents
def getErrors(self):
return self.err
def killMotors(self):
'''
Stops all motors on Rover
'''
for i in range(5):
self.rc.ForwardM1(self.address[i], 0)
self.rc.ForwardM2(self.address[i], 0)
def errorCheck(self):
'''
Checks error status of each motor controller, returns 0 if any errors occur
'''
for i in range(len(self.address)):
self.err[i] = self.rc.ReadError(self.address[i])[1]
for error in self.err:
if error:
self.killMotors()
#self.writeError()
rospy.loginfo("Motor controller Error: " + str(error))
return 1
def writeError(self):
'''
Writes the list of errors to a text file for later examination
'''
f = open('errorLog.txt', 'a')
errors = ','.join(str(e) for e in self.err)
f.write('\n' + 'Errors: ' + '[' + errors + ']' + ' at: ' +
str(datetime.datetime.now()))
f.close()
# A short and sweet script to test communication with a single roboclaw motor controller.
# usage
# $ python roboclawtest.py 128
from time import sleep
import sys
from os import path
# need to add the roboclaw.py file in the path
sys.path.append(
path.join(path.expanduser('~'), 'osr_ws/src/osr-rover-code/ROS/osr/src'))
from roboclaw import Roboclaw
if __name__ == "__main__":
address = int(sys.argv[1])
roboclaw = Roboclaw("/dev/serial0", 115200)
roboclaw.Open()
print roboclaw.ReadVersion(address)
print roboclaw.ReadEncM1(address)
import time
from roboclaw import Roboclaw
#Windows comport name
#rc = Roboclaw("COM9",115200)
#Linux comport name
rc = Roboclaw("/dev/ttyACM0", 115200)
rc.Open()
while 1:
#Get version string
version = rc.ReadVersion(0x80)
if version[0] == False:
print "GETVERSION Failed"
else:
print repr(version[1])
time.sleep(1)
time.sleep(1)
rc.SpeedM2(address, speed)
time.sleep(0.1)
#Fine homing
#Fine homing
rc.SpeedM2(address, -100)
time.sleep(3)
rc.SpeedM2(address, 0)
rc.Open()
address1 = 0x80
address2 = 0x81
address3 = 0x82
version1 = rc.ReadVersion(address1)
version2 = rc.ReadVersion(address2)
version3 = rc.ReadVersion(address3)
if version1[0] == False:
print "GETVERSION Failed"
else:
print repr(version1[1])
print repr(version2[1])
print repr(version3[1])
while (1):
for i in range(0, 20):
rc.SpeedM1(address1, 32767)
time.sleep(2)
class motor_driver_ada:
def __init__(self, log):
self.lfbias = 48 # experimentally determined for 'Spot 2'
self.lrbias = 44
self.rrbias = 69
self.rfbias = 40
self.pan_bias = 83
self.left_limit = -36
self.right_limit = 36
self.d1 = 7.254 #C/L to corner wheels
self.d2 = 10.5 #mid axle to fwd axle
self.d3 = 10.5 #mid axle to rear axle
self.d4 = 10.073 #C/L to mid wheels
self.speedfactor = 35 # 8000 counts at 100%
self.rr_motor = kit.servo[0]
self.rf_motor = kit.servo[1]
self.lf_motor = kit.servo[2]
self.lr_motor = kit.servo[3]
self.pan = kit.servo[15]
self.tilt = kit.servo[14]
#pan_bias = 0 self.rr_motor.actuation_range = 120
self.rf_motor.actuation_range = 120
self.lf_motor.actuation_range = 120
self.lr_motor.actuation_range = 120
self.rr_motor.set_pulse_width_range(700, 2300)
self.rf_motor.set_pulse_width_range(700, 2300)
self.lf_motor.set_pulse_width_range(700, 2300)
self.lr_motor.set_pulse_width_range(700, 2300)
self.log = log
self.rc = Roboclaw("/dev/ttyS0", 115200)
i = self.rc.Open()
self.crc = 0
self.port = serial.Serial("/dev/ttyS0", baudrate=115200, timeout=0.1)
self.lf_motor.angle = self.rfbias
self.rf_motor.angle = self.lfbias
self.lr_motor.angle = self.lrbias
self.rr_motor.angle = self.rrbias
self.stop_all()
ver = self.rc.ReadVersion(0x80)
print(ver[0], ver[1])
ver = self.rc.ReadVersion(0x81)
print(ver[0], ver[1])
ver = self.rc.ReadVersion(0x82)
print(ver[0], ver[1])
def diag(self):
print("servo rr =" + str(self.rr_motor.angle))
print("servo rf =" + str(self.rf_motor.angle))
print("servo lf =" + str(self.lf_motor.angle))
print("servo lr =" + str(self.lr_motor.angle))
# self.turn_motor(0x80, vel, voc, 1)
def set_motor(self, address, v, av, m12):
vx = int(v * av)
if (m12 == 1):
self.rc.SpeedM1(address, vx)
else:
self.rc.SpeedM2(address, vx)
'''
def turn_motor(self, address, v, av1, av2):
v1 = int(v * av1)
v2 = int(v * av2)
if v >= 0:
self.rc.ForwardM1(address, v1)
self.rc.ForwardM2(address, v2)
# self.M1Forward(address, v1)
# self.M2Forward(address, v2)
else:
self.rc.BackwardM1(address, abs(v1))
self.rc.BackwardM2(address, abs(v2))
# self.M1Backward(address, abs(v1))
# self.M2Backward(address, abs(v2))
# print("m1, m2 = "+str(v1)+", "+str(v2))
'''
def stop_all(self):
self.set_motor(0X80, 0, 0, 1)
self.set_motor(0X81, 0, 0, 1)
self.set_motor(0X82, 0, 0, 1)
self.set_motor(0X80, 0, 0, 2)
self.set_motor(0X81, 0, 0, 2)
self.set_motor(0X82, 0, 0, 2)
def motor_speed(self):
speed1 = self.rc.ReadSpeedM1(0x80)
speed2 = self.rc.ReadSpeedM2(0x80)
self.log.write("motor speed = %d, %d" % (speed1[1], speed2[1]))
print("motor speed = %d, %d" % (speed1[1], speed2[1]))
speed1 = self.rc.ReadSpeedM1(0x81)
speed2 = self.rc.ReadSpeedM2(0x81)
self.log.write("motor speed = %d, %d" % (speed1[1], speed2[1]))
print("motor speed = %d, %d" % (speed1[1], speed2[1]))
speed1 = self.rc.ReadSpeedM1(0x82)
speed2 = self.rc.ReadSpeedM2(0x82)
self.log.write("motor speed = %d, %d" % (speed1[1], speed2[1]))
print("motor speed = %d, %d" % (speed1[1], speed2[1]))
# self.battery_voltage()
err = self.rc.ReadError(0x80)[1]
if err:
print("status of 0x80", err)
self.log.write("0x80 error: %d" % err)
err = self.rc.ReadError(0x81)[1]
if err:
print("status of 0x81", err)
self.log.write("0x81 error: %d" % err)
err = self.rc.ReadError(0x82)[1]
if err:
print("status of 0x82", err)
self.log.write("0x82 error: %d" % err)
def battery_voltage(self):
volts = self.rc.ReadMainBatteryVoltage(0x80)[1] / 10.0
print("Ada Voltage = ", volts)
self.log.write("Voltage: %5.1f\n" % volts)
return (volts)
# based on speed & steer, command all motors
def motor(self, speed, steer):
# self.log.write("Motor speed, steer "+str(speed)+", "+str(steer)+'\n')
if (steer < self.left_limit):
steer = self.left_limit
if (steer > self.right_limit):
steer = self.right_limit
# vel = speed * 1.26
vel = self.speedfactor * speed
voc = 0
vic = 0
#roboclaw speed limit 0 to 127
# see BOT-2/18 (181201)
# math rechecked 200329
if steer != 0: #if steering angle not zero, compute angles, wheel speed
angle = math.radians(abs(steer))
ric = self.d3 / math.sin(angle) #turn radius - inner corner
rm = ric * math.cos(angle) + self.d1 #body central radius
roc = math.sqrt((rm + self.d1)**2 + self.d3**2) #outer corner
rmo = rm + self.d4 #middle outer
rmi = rm - self.d4 #middle inner
phi = math.degrees(math.asin(self.d3 / roc))
if steer < 0:
phi = -phi
voc = roc / rmo #velocity corners & middle inner
vic = ric / rmo
vim = rmi / rmo
# SERVO MOTORS ARE COUNTER CLOCKWISE
# left turn
if steer < 0:
self.lf_motor.angle = self.lfbias - steer
self.rf_motor.angle = self.rfbias - phi
self.lr_motor.angle = self.lrbias + steer
self.rr_motor.angle = self.rrbias + phi
# self.turn_motor(0x80, vel, voc, 1) #RC 1 - rf, rm
# self.turn_motor(0x81, vel, voc, vic) #RC 2 - lm, lf
# self.turn_motor(0x82, vel, vim, vic) #RC 3 - rr, lr
self.set_motor(0x80, vel, voc, 1) #RC 1 - rf, rm
self.set_motor(0x81, vel, voc, 1) #RC 2 - lm, lf
self.set_motor(0x82, vel, vim, 1) #RC 3 - rr, lr
self.set_motor(0x80, vel, 1, 2) #RC 1 - rf, rm
self.set_motor(0x81, vel, vic, 2) #RC 2 - lm, lf
self.set_motor(0x82, vel, vic, 2) #RC 3 - rr, lr
# cstr = "v, vout, vin %f %f %f\n" % (vel, voc, vic)
# self.log.write(cstr)
#right turn
elif steer > 0:
self.lf_motor.angle = self.lfbias - phi
self.rf_motor.angle = self.rfbias - steer
self.lr_motor.angle = self.lrbias + phi
self.rr_motor.angle = self.rrbias + steer
# self.turn_motor(0x80, vel, vic, vim)
# self.turn_motor(0x81, vel, vic, voc)
# self.turn_motor(0x82, vel, 1, voc)
self.set_motor(0x80, vel, vic, 1)
self.set_motor(0x81, vel, vic, 1)
self.set_motor(0x82, vel, 1, 1)
self.set_motor(0x80, vel, vim, 2)
self.set_motor(0x81, vel, voc, 2)
self.set_motor(0x82, vel, voc, 2)
# print("80 vic, vim ",vic,vim)
# print("81 vic, voc ",vic,voc)
# print("82 vom, voc ", 1, voc)
# cstr = "v, vout, vin %f %f %f\n" % (vel, voc, vic)
# self.log.write(cstr)
#straight ahead
else:
self.lf_motor.angle = self.lfbias
self.rf_motor.angle = self.rfbias
self.lr_motor.angle = self.lrbias
self.rr_motor.angle = self.rrbias
self.set_motor(0x80, vel, 1, 1)
self.set_motor(0x81, vel, 1, 1)
self.set_motor(0x82, vel, 1, 1)
self.set_motor(0x80, vel, 1, 2)
self.set_motor(0x81, vel, 1, 2)
self.set_motor(0x82, vel, 1, 2)
# print("v, vout, vin "+str(vel)+", "+str(voc)+", "+str(vic))
# self.diag()
# cstr = "v, vout, vin %f %f %f\n" % (vel, voc, vic)
# self.log.write(cstr)
def sensor_pan(self, angle):
self.pan.angle = self.pan_bias + angle
def depower(self):
self.lf_motor.angle = None
self.rf_motor.angle = None
self.lr_motor.angle = None
self.rr_motor.angle = None
self.pan.angle = None
print "Speed1:",
if (speed1[0]):
print speed1[1],
else:
print "failed",
print("Speed2:"),
if (speed2[0]):
print speed2[1]
else:
print "failed "
rc.Open()
address = 0x80
version = rc.ReadVersion(address)
if version[0] == False:
print "GETVERSION Failed"
else:
print repr(version[1])
while (1):
# rc.SpeedM1(address,12000)
rc.SpeedM2(address, -12000)
for i in range(0, 20):
displayspeed()
time.sleep(0.01)
# rc.SpeedM1(address,-12000)
rc.SpeedM2(address, 12000)
for i in range(0, 20):
class RM501_Control:
axis_map = (
("gripper", 128, 1, 5000, 10000),
("axis 1", 128, 2, 5000, 10000),
("axis 2", 129, 1, 5000, 10000),
("axis 3", 129, 2, 5000, 10000),
("axis 4", 130, 1, 5000, 10000),
("axis 5", 130, 2, 5000, 10000),
)
def __init__(self, serport=DEFAULT_PORT):
self._rc = Roboclaw(serport, 115200)
self._rc_polling_thread = Thread(target=self._polling_loop,
name="Encoders Polling Thread")
self.axes = []
self.addrs = []
for (name, addr, m_nr, def_spd, def_acc) in self.axis_map:
self.axes.append(Axis(self._rc, name, addr, m_nr, def_spd,
def_acc))
if addr not in self.addrs:
self.addrs.append(addr)
self.diff_axes = [
DiffTransmission(self.axes[4], self.axes[5]),
DiffTransmission(self.axes[5], self.axes[4])
]
def connect(self):
if hasattr(self._rc, "_port") and self._rc._port.isOpen():
return
self._rc.Open()
# if not self._rc.Open():
# raise RuntimeError("Could not open port {}".format(self._rc.comport))
self.versions = {}
for addr in self.addrs:
(success, version) = self._rc.ReadVersion(addr)
if success:
self.versions[addr] = version
else:
raise RuntimeError(
"GETVERSION on board {} Failed".format(addr))
for (addr, version) in self.versions.items():
print("Board {} Version: {}".format(addr, version))
self._run_polling = True
self._rc_polling_thread.start()
threadpool.start(worker)
def _polling_loop(self):
while self._run_polling:
for a in self.axes:
a.read_position()
a.read_velocity()
time.sleep(0.05)
def stop(self):
print("STOPPING {}".format(self._rc_polling_thread.name))
self._run_polling = False
self._rc_polling_thread.join()
worker.running = False
waypoint_executor.running = False
self._rc._port.close()
print("{} STOPPED".format(self._rc_polling_thread.name))
