def connect(self):
"""
Read all configuration parameters (not just connect) and use the connect
parameters to create new RoboClaw API handle.
"""
# First load configuration file
config = configuration.configuration("roboclaw")
allparams = config.load()
self.velocityparams = allparams['velocity']
self.angleparams = allparams['angle']
# Use connect configuration to create a RoboClaw API handle
portname = allparams['connect']['port']
if portname == 'TEST':
self.roboclaw = Roboclaw_stub()
else:
baudrate = allparams['connect']['baudrate']
timeout = allparams['connect']['timeout']
retries = allparams['connect']['retries']
newrc = Roboclaw(portname, baudrate, timeout, retries)
if newrc.Open():
self.roboclaw = newrc
else:
raise ValueError("Could not connect to RoboClaw. {} @ {}".format(portname, baudrate))
def stop_motors():
print('shutting down motors...')
rc = Roboclaw("/dev/ttyACM0", 115200)
rc.Open()
address = 0x80
rc.SpeedM1(address, 0) # M1 for linear movement
rc.SpeedM2(address, 0) # M2 for turning
def main():
global speed
speed = 64 #half the [0-127] to get 0 speed in ForwardBackward command
msgAckermann = AckermannDrive()
rospy.init_node('mobile_base_node', anonymous=True)
rospy.Subscriber("/ackermann", AckermannDrive, callbackAckermann)
rate = rospy.Rate(10)
rc = Roboclaw("/dev/ttyACM1", 115200)
rc.Open()
address = 0x80
br = tf.TransformBroadcaster()
autobot_x = 0
while not rospy.is_shutdown():
autobot_x += speed * 0.001
msgAckermann.speed = speed
rc.ForwardBackwardM1(address,
int(msgAckermann.speed)) #0 power forward = 64
rc.ForwardBackwardM2(address,
int(-msgAckermann.speed)) #0 power backward = 64
br.sendTransform((autobot_x, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(), "base_link", "odom")
rate.sleep()
def root_menu():
global rc
if rc is None:
for device in potentialDevices():
newrc = Roboclaw("/dev/" + device, 115200, 0.01, 3)
if newrc.Open():
rc = newrc
break
# Failed to connect to USB, fall back to test stub.
if rc is None:
rc = Roboclaw_stub()
rcAddr = tryParseAddress(request.args.get('address'), default=128)
displayMenu = False
if rcAddr is not None:
try:
verString = readResult(rc.ReadVersion(rcAddr))
flash(
"Roboclaw at address {0} ({0:#x}) version: {1}".format(
rcAddr, verString), successCategory)
displayMenu = True
except ValueError as ve:
flash(
"No Roboclaw response from address {0} ({0:#x})".format(
rcAddr), errorCategory)
else:
roboResponse = None
return render_template("root_menu.html",
display=displayMenu,
address=rcAddr)
def main():
rospy.init_node('mobile_base_node', anonymous=True)
rospy.Subscriber(
"/cmd_vel", Twist,
cmd_vel_callback) #the value in /cmd_vel gows from -0.5 to 0.5 (m/S)
rate = rospy.Rate(10)
rc = Roboclaw("/dev/ttyACM1", 115200)
rc.Open()
address = 0x80
br = tf.TransformBroadcaster()
autobot_x = 0
while not rospy.is_shutdown():
#rospy.loginfo(msg.linear.x)
autobot_x += msg.linear.x * 0.1
if msg.linear.x > 0:
rc.ForwardM1(address,
int(msg.linear.x * 100)) #1/4 power forward = 32
rc.BackwardM2(address,
int(msg.linear.x * 100)) #1/4 power backward = 32
elif msg.linear.x < 0:
rc.BackwardM1(address, int(msg.linear.x * (-100)))
rc.ForwardM2(address, int(msg.linear.x * (-100)))
else:
rc.ForwardM1(address, int(msg.linear.x))
rc.BackwardM2(address, int(msg.linear.x))
br.sendTransform((autobot_x, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(), "base_link", "odom")
#print "Sending transform"
rate.sleep()
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(uart='/dev/TTYTHS0', baud=115200):
global rc
rc = Roboclaw(uart, baud)
rc.Open()
global pub
pub = rospy.Publisher('arm_motion', String, queue_size=10)
rospy.Subscriber('joy', Joy, manual_control)
rospy.init_node('base_motors', anonymous=True)
rospy.spin()
def run_motors(M1_counts, M2_counts):
### send motor commands M1 forward, M2 turning###
rc = Roboclaw("/dev/ttyACM0", 115200)
rc.Open()
address = 0x80
print('running motors')
rc.SpeedM1(address, int(M1_counts)) # M1 for linear movement
rc.SpeedM2(address, int(M2_counts)) # M2 for turning
display_speed()
display_power_values()
def setup(ip=c.pi_ip):
global inter
global address1
global address2
global address3
global roboclaw
inter = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
inter.bind((ip, 8080))
inter.listen(5)
address1 = 0x80 #front motors
address2 = 0x81 #mid motors
address3 = 0x82 #back motors
roboclaw = Roboclaw("/dev/ttyS0", 38400)
roboclaw.Open()
def main():
global serverSocket
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
serverSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
serverSocket.bind(("192.168.1.186", 6666))
global roboclaw
roboclaw = Roboclaw("/dev/serial0", 38400)
roboclaw.Open()
global LeftDrive, RightDrive, LinActuators, Chainsaw
LeftDrive = 0x80
RightDrive = 0x81
LinActuators = 0x82
Chainsaw = 0x83
while True:
loop()
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...")
def find_controllers(self):
addressList = [0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87]
controller_dictionary = {}
speed_factors = {}
counter = 0
for i in range(0, 20):
rc = Roboclaw(self.baseStr + str(i), self.rate)
if rc.Open() == 0:
for a in addressList:
if rc.GetConfig(a) != (0, 0):
controller_dictionary[a] = rc
speed_factors[a] = [1, 1, 1]
counter += 1
break
if counter == 3:
break
return controller_dictionary, speed_factors
class RoboClawAdvance:
def __init__(self):
self.PWM_MAX = 127
self.address = 0x80
self.roboclaw = Roboclaw("/dev/ttyS1", 38400)
self.roboclaw.Open()
def MotorDrive1(self, speed, direction):
rpm = int(abs(speed) * direction)
if speed >= 0:
# Reverse
self.roboclaw.ForwardM1(self.address, rpm)
else:
self.roboclaw.BackwardM1(self.address, rpm)
def MotorDrive2(self, speed, direction):
rpm = int(abs(speed) * direction)
if speed >= 0:
self.roboclaw.ForwardM2(self.address, rpm)
else:
# Forward / stoppe
self.roboclaw.BackwardM2(self.address, rpm)
# Right = Rotate Contact Right
# Left = Rotate Contact Left
# Motor Diagram
# 1
# / \
# 3_____2
#creates object 'gamepad' to store the data
gamepad = InputDevice('/dev/input/event0')
#Opens up roboclaw inputs
rc1 = Roboclaw("/dev/ttyACM0", 9600)
#rc2 = Roboclaw("/dev/ttyACM1",9600)
rc1.Open()
#rc2.Open()
address = 0x80
#button code variables as found for 8bitdo gamepad
aBtn = 304
bBtn = 305
xBtn = 307
yBtn = 308
start = 315
select = 314
lTrig = 310
rTrig = 311
print format(enc3[2], '02x'),
f1.write(str(enc3[1] * 0.18))
f1.write(",")
else:
print "failed",
print "Encoder4:",
if (enc4[0] == 1):
print enc4[1],
print format(enc4[2], '02x'),
f1.write(str(enc4[1] * 0.18))
f1.write("\n")
else:
print "failed ",
rc1.Open()
rc2.Open()
address = 0x80
fo = open("m_data.txt", "r+")
print "Name of the file: ", fo.name
print "Closed or not : ", fo.closed
print "Opening mode : ", fo.mode
print "Softspace flag : ", fo.softspace
j = 0
i = 0
motor_data = []
motor_data.append(0)
motor_data.append(0)
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
import math
from roboclaw import Roboclaw
i2c = busio.I2C(SCL, SDA)
pca = PCA9685(i2c)
pca.frequency = 50
br_motor = servo.Servo(pca.channels[0],
actuation_range=119,
min_pulse=700,
max_pulse=2300)
fr_motor = servo.Servo(pca.channels[1])
fl_motor = servo.Servo(pca.channels[2])
bl_motor = servo.Servo(pca.channels[3])
rc = Roboclaw("/dev/ttyS0", 115200)
i = rc.Open()
print("open status = [" + str(i) + "]")
steer = 0
speed = 0
left_limit = -40
right_limit = 40
def turn_left(steer):
fl_motor.angle = 90 + steer
fr_motor.angle = 90 + steer
bl_motor.angle = 90 - steer
br_motor.angle = 90 - steer
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 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))
class MotorConnection:
def __init__(self,
roboclaw_port='/dev/roboclaw',
baud_rate=115200,
bucket_address=0x80):
self.right_motor = DriveMotor(DEFAULT_RIGHT_DRIVE_MOTOR_PORT, 0)
self.left_motor = DriveMotor(DEFAULT_LEFT_DRIVE_MOTOR_PORT, 1)
self.roboclaw = Roboclaw(roboclaw_port, baud_rate)
if self.roboclaw.Open():
self.status = RoboclawStatus.CONNECTED
else:
self.status = RoboclawStatus.DISCONNECTED
print self.status
print 'MotorConnection initialized.'
self.bucketAddress = bucket_address
self.left_motor_speed = 0
self.right_motor_speed = 0
self.actuator_motor_speed = 0
self.bucket_motor_speed = 0
@staticmethod
def direction_of_speed(speed):
if speed >= 0:
return 1
else:
return -1
def are_speed_directions_equal(self, speed1, speed2):
if self.direction_of_speed(speed1) is self.direction_of_speed(speed2):
return True
else:
return False
@staticmethod
def convert_speed_to_power(speed):
if abs(speed) > MAX_MOTOR_SPEED:
return 0
else:
power_percentage = float(speed) / float(MAX_MOTOR_SPEED)
power = int(power_percentage * float(MAX_MOTOR_POWER))
return power
@staticmethod
def convert_speed_to_rpm(speed):
if abs(speed) > MAX_MOTOR_SPEED:
return 0
else:
power_percentage = float(speed) / float(MAX_MOTOR_SPEED)
power = int(power_percentage * float(MAX_DRIVE_MOTOR_RPM))
return power
def left_drive(self, speed):
print 'Left motor at speed:', speed, '%'
self.left_motor_speed = speed
rpm = self.convert_speed_to_rpm(speed)
print 'Left motor at rpm:', rpm
self.left_motor.drive(rpm)
def right_drive(self, speed):
print 'Right motor at speed:', speed, '%'
self.right_motor_speed = speed
rpm = self.convert_speed_to_rpm(speed)
print 'Right motor at rpm:', rpm
self.right_motor.drive(rpm)
def bucket_actuate(self, speed):
if not self.are_speed_directions_equal(speed,
self.actuator_motor_speed):
print 'Actuator motor speed changed direction.'
self.roboclaw.ForwardM1(self.bucketAddress, 0)
time.sleep(DEFAULT_TIME_TO_DELAY_MOTOR)
print 'Actuator motor at speed:', speed, '%'
self.actuator_motor_speed = speed
power = self.convert_speed_to_power(speed)
print 'Actuator motor at power:', power
if power >= 0:
self.roboclaw.BackwardM1(self.bucketAddress, power)
else:
self.roboclaw.ForwardM1(self.bucketAddress, abs(power))
def bucket_rotate(self, speed):
if not self.are_speed_directions_equal(speed, self.bucket_motor_speed):
print 'Bucket motor speed changed direction.'
self.roboclaw.ForwardM2(self.bucketAddress, 0)
time.sleep(DEFAULT_TIME_TO_DELAY_MOTOR)
print 'Bucket motor at speed:', speed, '%'
self.bucket_motor_speed = speed
power = self.convert_speed_to_power(speed)
print 'Bucket motor at power:', power
if power >= 0:
self.roboclaw.BackwardM2(self.bucketAddress, power)
else:
self.roboclaw.ForwardM2(self.bucketAddress, abs(power))
def parse_message(self, message):
sub_messages = motorMessageRegex.findall(message)
threads = []
for sub_message in sub_messages:
motor_prefix = sub_message[0]
speed = int(sub_message[1])
try:
if motor_prefix == SubMessagePrefix.LEFT_MOTOR:
left_motor_thread = Thread(name='leftMotorThread',
target=self.left_drive(-speed))
threads.append(left_motor_thread)
left_motor_thread.start()
elif motor_prefix == SubMessagePrefix.RIGHT_MOTOR:
right_motor_thread = Thread(name='rightMotorThread',
target=self.right_drive(speed))
threads.append(right_motor_thread)
right_motor_thread.start()
elif motor_prefix == SubMessagePrefix.ACTUATOR:
actuator_thread = Thread(name='actuatorThread',
target=self.bucket_actuate(speed))
threads.append(actuator_thread)
actuator_thread.start()
elif motor_prefix == SubMessagePrefix.BUCKET:
bucket_thread = Thread(name='bucketThread',
target=self.bucket_rotate(speed))
threads.append(bucket_thread)
bucket_thread.start()
else:
print 'MotorPrefix "', motor_prefix, '" unrecognized.'
except AttributeError:
self.status = RoboclawStatus.DISCONNECTED
print 'Roboclaw disconnected...retrying connection'
if self.roboclaw.Open():
print 'Roboclaw connected...retrying command'
self.status = RoboclawStatus.CONNECTED
self.parse_message(message)
for thread in threads:
thread.join()
def close(self):
print 'Closed connection:', self.roboclaw.Close()
class Rover():
'''
Rover class contains all the math and motor control algorithms to move the rover
In order to call command the rover the only method necessary is the drive() method
'''
def __init__(self):
'''
Initialization of communication parameters for the Motor Controllers
'''
self.rc = Roboclaw("/dev/ttyS0", 115200)
self.rc.Open()
self.address = [0x80, 0x81, 0x82, 0x83, 0x84]
self.rc.ResetEncoders(self.address[0])
self.rc.ResetEncoders(self.address[1])
self.rc.ResetEncoders(self.address[2])
self.err = [None] * 5
def getCornerDeg(self):
'''
Returns a list of angles [Deg] that each of the Corners are currently pointed at
'''
encoders = [0] * 4
for i in range(4):
index = int(math.ceil((i + 1) / 2.0) + 2)
if (i % 2):
enc = self.rc.ReadEncM2(self.address[index])[1]
else:
enc = self.rc.ReadEncM1(self.address[index])[1]
encoders[i] = int(cals[i][0] * math.pow(enc, 2) +
cals[i][1] * enc + cals[i][2])
return encoders
@staticmethod
def approxTurningRadius(enc):
'''
Takes the list of current corner angles and approximates the current turning radius [inches]
:param list [int] enc: List of encoder ticks for each corner motor
'''
if enc[0] == None:
return 250
try:
if enc[0] > 0:
r1 = (d1 / math.tan(math.radians(abs(enc[0])))) + d3
r2 = (d2 / math.tan(math.radians(abs(enc[1])))) + d3
r3 = (d2 / math.tan(math.radians(abs(enc[2])))) - d3
r4 = (d1 / math.tan(math.radians(abs(enc[3])))) - d3
else:
r1 = -(d1 / math.tan(math.radians(abs(enc[0])))) - d3
r2 = -(d2 / math.tan(math.radians(abs(enc[1])))) - d3
r3 = -(d2 / math.tan(math.radians(abs(enc[2])))) + d3
r4 = -(d1 / math.tan(math.radians(abs(enc[3])))) + d3
radius = (r1 + r2 + r3 + r4) / 4
return radius
except:
return 250
@staticmethod
def calTargetDeg(radius):
'''
Takes a turning radius and calculates what angle [degrees] each corner should be at
:param int radius: Radius drive command, ranges from -100 (turning left) to 100 (turning right)
'''
#Scaled from 250 to 220 inches. For more information on these numbers look at the Software Controls.pdf
if radius == 0:
r = 250
elif -100 <= radius <= 100:
r = 220 - abs(radius) * (250 / 100)
else:
r = 250
if r == 250:
return [0] * 4
ang1 = int(math.degrees(math.atan(d1 / (abs(r) + d3))))
ang2 = int(math.degrees(math.atan(d2 / (abs(r) + d3))))
ang3 = int(math.degrees(math.atan(d2 / (abs(r) - d3))))
ang4 = int(math.degrees(math.atan(d1 / (abs(r) - d3))))
if radius > 0:
return [ang2, -ang1, -ang4, ang3]
else:
return [-ang4, ang3, ang2, -ang1]
@staticmethod
def calVelocity(v, r):
'''
Returns a list of speeds for each individual drive motor based on current turning radius
:param int v: Drive speed command range from -100 to 100
:param int r: Turning radius command range from -100 to 100
'''
v = int(v) * (127 / 100)
if (v == 0):
return [v] * 6
if (r == 0 or r >= 250 or r <= -250):
return [v] * 6 # No turning radius, all wheels same speed
else:
x = v / (abs(r) + d4) # Wheels can't move faster than max (127)
a = math.pow(d2, 2)
b = math.pow(d3, 2)
c = math.pow(abs(r) + d1, 2)
d = math.pow(abs(r) - d1, 2)
e = abs(r) - d4
v1 = int(x * math.sqrt(b + d))
v2 = int(x * e) # Slowest wheel
v3 = int(x * math.sqrt(a + d))
v4 = int(x * math.sqrt(a + c))
v5 = int(v) # Fastest wheel
v6 = int(x * math.sqrt(b + c))
if (r < 0):
velocity = [v1, v2, v3, v4, v5, v6]
elif (r > 0):
velocity = [v6, v5, v4, v3, v2, v1]
return velocity
def cornerPosControl(self, tar_enc):
'''
Takes the target angle and gets what encoder tick that value is for position control
:param list [int] tar_enc: List of target angles in degrees for each corner
'''
x = [0] * 4
for i in range(4):
a, b, c = cals[i][0], cals[i][1], cals[i][2] - tar_enc[i]
d = b**2 - 4 * a * c
if d < 0:
print 'no soln'
elif d == 0:
x[i] = int((-b + math.sqrt(d[i])) / (2 * a))
else:
x1 = (-b + math.sqrt(d)) / (2 * a)
x2 = (-b - math.sqrt(d)) / (2 * a)
if x1 > 0 and x2 <= 0:
x[i] = int(x1)
else:
x[i] = int(x2) #I don't think this case can ever happen.
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 (i % 2):
self.rc.SpeedAccelDeccelPositionM2(self.address[index], accel,
speed, accel, x[i], 1)
else:
self.rc.SpeedAccelDeccelPositionM1(self.address[index], accel,
speed, accel, x[i], 1)
def motorDuty(self, motorID, speed):
'''
Wrapper method for an easier interface to control the motors
:param int motorID: number that corresponds to each physical motor
:param int speed: Speed for each motor, range from 0-127
'''
addr = {
0: self.address[3],
1: self.address[3],
2: self.address[4],
3: self.address[4],
4: self.address[0],
5: self.address[0],
6: self.address[1],
7: self.address[1],
8: self.address[2],
9: self.address[2]
}
#drive forward
if (speed >= 0):
command = {
0: self.rc.ForwardM1,
1: self.rc.ForwardM2,
2: self.rc.ForwardM1,
3: self.rc.ForwardM2,
4: self.rc.ForwardM1,
5:
self.rc.BackwardM2, #some are backward based on wiring diagram
6: self.rc.ForwardM1,
7: self.rc.ForwardM2,
8: self.rc.BackwardM1,
9: self.rc.ForwardM2
}
#drive backward
else:
command = {
0: self.rc.BackwardM1,
1: self.rc.BackwardM2,
2: self.rc.BackwardM1,
3: self.rc.BackwardM2,
4: self.rc.BackwardM1,
5: self.rc.ForwardM2,
6: self.rc.BackwardM1,
7: self.rc.BackwardM2,
8: self.rc.ForwardM1,
9: self.rc.BackwardM2
}
speed = abs(speed)
return command[motorID](addr[motorID], speed)
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 != 0:
return 0
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()
def drive(self, v, r):
'''
Driving method for the Rover, rover will not do any commands if any motor controller
throws an error
:param int v: driving velocity command, % based from -100 (backward) to 100 (forward)
:param int r: driving turning radius command, % based from -100 (left) to 100 (right)
'''
if self.errorCheck():
current_radius = self.approxTurningRadius(self.getCornerDeg())
velocity = self.calVelocity(v, current_radius)
self.cornerPosControl(self.calTargetDeg(r))
for i in range(6):
self.motorDuty(i + 4, velocity[i])
else:
self.writeError()
raise Exception(
"Fatal: Motor controller(s) reported errors. See errorLog.txt."
)
def killMotors(self):
'''
Stops all motors on Rover
'''
for i in range(0, 10):
self.motorDuty(i, 0)
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 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
class motors_node:
# Constructor function that defines the mode of control (solo or dual joystick),
# the port of comunication with the dirvers, the addresses and the max speed
# value of the motors.
def __init__(self,
DUAL,
PORT,
RATE=38400,
ADDRESSES=[128, 129],
MAX_SPEED=127,
NODE_NAME='Motors'):
# Definition of constants.
self.ADDRESSES = ADDRESSES
self.DUAL = DUAL
self.PORT = PORT
# Definition of useful tool objects.
self.tank = tank.tank_steering(MAX_SPEED)
self.joysticks = joysticks_data()
# Opening port for communication.
self.open()
# Opening comunication between drivers and program.
self.drivers = Roboclaw('/dev/' + self.PORT, RATE)
self.drivers.Open()
# Enable Ros Comunication and it's suscribe frequency.
rospy.init_node(NODE_NAME)
rospy.Subscriber('joy', Joy, self.ros_suscribe)
r = rospy.Rate(200)
# Control loop for comunication with the drivers.
while not rospy.is_shutdown():
self.tank_drive()
r.sleep()
# OLD CODE, ENABLES COMMUNIATION WITH PORT, AND ENABLES ALL ACCESS, BUT AT THE MOMENT THERE IS NOT DOCUMENTATION.
def open(self):
for i in range(1):
rospy.loginfo("waiting port: %s. %i sec." % (self.PORT, 10 - i))
sleep(1)
else:
rospy.loginfo("open port: %s" % self.PORT)
system("sudo chmod 777 /dev/" + self.PORT)
rospy.loginfo("port: %s opened" % self.PORT)
if self.rccm.Open():
print(self.rccm._port)
else:
exit("Error: cannot open port: " + self.PORT)
# Function that reads the Joy information and saves the Joysticks values.
def ros_suscribe(self, data):
self.joysticks.update_values(data.axes)
# Function in charge of managing the data, translate it to tank steering,
# define the direction of the motors, and sending the command to the drivers.
def tank_drive(self):
# Updating the values of the tank steering with the new data.
if self.DUAL == True:
self.tank.dual = self.joysticks.get_values(DUAL)
else:
self.tank.solo = self.joysticks.get_values(DUAL)
# Getting the direction and value of the new speed of the motors.
motors = self.tank.get_speed(False)
left_forward = motors[0] > 0
right_forward = motors[1] > 0
# Getting the absolute value of the speed of the motors for the command.
motors = [abs(motors[0]), abs(motors[1])]
# Sending the value of the speed to each address respectively.
# (All the par addresses are left, and non adresses are right).
for i in self.addresses:
if (i % 2 == 0):
if left_forward == True:
self.roboclaw.ForwardM1(i, motors[0])
else:
self.roboclaw.BackwardM1(i, motors[0])
else:
if right_forward:
self.roboclaw.ForwardM1(i, motors[1])
else:
self.roboclaw.BackwardM1(i, motors[1])
import csv
import time
import subprocess
import libmov as LM
#import serial
from roboclaw import Roboclaw
#Linux comport name
Frontal = Roboclaw("/dev/ttyACM0", 115200) #Para los motores frontales
Trasero = Roboclaw("/dev/ttyACM1", 115200) #Para los motores traseros
Frontal.Open()
Trasero.Open()
address = 0x80
def main():
Frontal.ResetEncoders(address)
Trasero.ResetEncoders(address)
time.sleep(1)
with open("Ts6.csv", "wb") as f:
writer = csv.writer(f,
delimiter=',',
quotechar='"',
quoting=csv.QUOTE_ALL)
writer.writerow([
'Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD',
'iA', 'iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD'
])
class motor_driver_ada:
def __init__(self, log):
self.lfbias = 68 # experimentally determined for 'Spot 2'
self.lrbias = 60
self.rrbias = 57
self.rfbias = 60
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.rr_motor = kit.servo[0]
self.rf_motor = kit.servo[1]
self.lf_motor = kit.servo[2]
self.lr_motor = kit.servo[3]
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.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()
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 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)
else:
self.rc.BackwardM1(address, abs(v1))
self.rc.BackwardM2(address, abs(v2))
# print("m1, m2 = "+str(v1)+", "+str(v2))
def stop_all(self):
self.turn_motor(0X80, 0, 0, 0)
self.turn_motor(0X81, 0, 0, 0)
self.turn_motor(0X82, 0, 0, 0)
def motor_speed(self):
speed1 = self.rc.ReadSpeedM1(0x80)
speed2 = self.rc.ReadSpeedM2(0x80)
self.log.write("motor speed = %d, %d\n", speed1, speed2)
speed1 = self.rc.ReadSpeedM1(0x81)
speed2 = self.rc.ReadSpeedM2(0x81)
self.log.write("motor speed = %d, %d\n", speed1, speed2)
speed1 = self.rc.ReadSpeedM1(0x82)
speed2 = self.rc.ReadSpeedM2(0x82)
self.log.write("motor speed = %d, %d\n", speed1, speed2)
# based on speed & steer, command all motors
def motor(self, speed, steer):
# print("Motor speed, steer "+str(speed)+", "+str(steer))
if (steer < self.left_limit):
steer = self.left_limit
if (steer > self.right_limit):
steer = self.right_limit
# vel = speed * 1.27
vel = speed * 1.26
voc = 0
vic = 0
#roboclaw speed limit 0 to 127
# see BOT-2/18 (181201)
# 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, vim, vic) #RC 2 - lm, lf
self.turn_motor(0x82, vel, voc, vic) #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, 1, voc)
self.turn_motor(0x82, vel, vic, voc)
# 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.turn_motor(0x80, vel, 1, 1)
self.turn_motor(0x81, vel, 1, 1)
self.turn_motor(0x82, vel, 1, 1)
# print("v, vout, vin "+str(vel)+", "+str(voc)+", "+str(vic))
# self.diag()
from roboclaw import Roboclaw
from time import sleep
roboclaw = Roboclaw("/dev/ttyS0", 38400)
roboclaw.Open()
# Read encoder
motor_1_count = roboclaw.ReadEncM1(0x80)
print "Original:"
print motor_1_count
sleep(2)
# Set encoder and then read and print to test operation
roboclaw.SetEncM1(0x80, 10000)
motor_1_count = roboclaw.ReadEncM1(0x80)
print "After setting count:"
print motor_1_count
sleep(2)
# Reset encoders and read and print value to test operation
roboclaw.ResetEncoders(0x80)
motor_1_count = roboclaw.ReadEncM1(0x80)
print "After resetting:"
print motor_1_count
sleep(2)
# Position motor, these values may have to be changed to suit the motor/encoder combination in use
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()
f.write("\n")
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 "
rc.Open()
address = 0x80
#Open a file
fo = open("data_init.txt", "r+")
print "Name of the file: ", fo.name
print "Closed or not : ", fo.closed
print "Opening mode : ", fo.mode
print "Softspace flag : ", fo.softspace
j = 0
data = ""
i = 0
motor_data = []
motor_data.append(0)
import time
import serial
from roboclaw import Roboclaw
#Windows comport name
#rc = Roboclaw("COM3",115200)
#Linux comport name
Frontal = Roboclaw("/dev/ttyACM0", 115200)
#Trasero = Roboclaw("/dev/ttyACM1",115200)
Frontal.Open()
#Trasero.Open()
address = 0x81
rep = 0
while (rep < 1):
#adelante
Frontal.ForwardM1(address, 64) #1/4 power forward
Frontal.ForwardM2(address, 64) #1/4 power forward
# Trasero.ForwardM1(address,64) #1/4 power forward
# Trasero.ForwardM2(address,64) #1/4 power forward
time.sleep(2)
#para
Frontal.ForwardBackwardM1(address, 64) #Stopped
Frontal.ForwardBackwardM2(address, 64) #Stopped
# Trasero.ForwardBackwardM1(address,64) #Stopped
# Trasero.ForwardBackwardM2(address,64) #Stopped
time.sleep(2)
#atras
Frontal.BackwardM1(address, 64) #1/4 power forward
Frontal.BackwardM2(address, 64) #1/4 power forward