def thrusterCallback(thrusterData):
ftime = time.localtime(time.time())
ttime = ftime[3]*3600+ftime[4]*60+ftime[5]
global DEBUG
global gyroRate
global gyroAngle
global gyroTime
thrust = Thruster()
thrust.lift = thrusterData.lift
thrust.thruster1 = thrusterData.thruster1
thrust.thruster2 = thrusterData.thruster2
thrust.thruster3 = thrusterData.thruster3
thrust.thruster4 = thrusterData.thruster4 #Counter Clockwise
thrust.thruster5 = thrusterData.thruster5 #Clockwise
if gyroRate < -355 :
printD("Gyro Limiter Engaged -")
gyroTime = ttime
thrust.thruster5 = 0
elif gyroRate > 620:
printD("Gyro Limiter Engaged +")
gyroTime = ttime
thrust.thruster4 = 0
if DEBUG:
print "Gyro Rate:",gyroRate,"\tGyro Angle:",gyroAngle
print "Gyro Time:",gyroTime,"\tTtime:",ttime,"\n"
if (ttime - gyroTime) < 1:
printD("Inhibited")
thrust.thruster4=0
thrust.thruster5=0
pub = rospy.Publisher('/hovercraft/Thruster',Thruster)
pub.publish(thrust)
def callback(joyData):
#I'm justifying using globals by saying that I'm not sure of the behavior
#of rospy.Subscriber when passing additional arguments to callback
global DEBUG
global xbox
const = config()
#It would be unwise to change these
start=joyData.buttons[7]
yAxisR=joyData.axes[4] # 'R' for right
xAxisR=joyData.axes[3]
rotateAxis=joyData.axes[0]
liftPower = const.lift
thrustModifier = const.tAmod #Max thruster power of .5
thrust = Thruster()
rotatePower = math.fabs(rotateAxis)
#Hypotenuse of x and y axis on right joystick
#Dampened to 1 if necessary
translatePower = math.sqrt(xAxisR*xAxisR+yAxisR*yAxisR)
translatePower = 1 if translatePower > 1 else translatePower
#Get the arctangent of yAxis/xAxis to get the angle in radians.
#Convert it to degrees and make it so that it goes from 0-360 starting
#at the positive x-axis
'''angle = round(math.atan2(yAxisR,xAxisR)*(180.0/3.141593)+180,4)
#Angle normalization for when we calculate the Thruster power
t1angle = angle+360. if angle < 330. else angle
t2angle = angle+360. if angle < 210. else angle
t3angle = angle
t1crit = 450.0
t2crit = 330.0
t3crit = 210.0
increment = 1.0/120.0'''
if start == 1 and not xbox.startButtonDepressed:
xbox.startButtonDepressed = True
printD("Start Button Pressed")
thrust.thruster1 = 0
thrust.thruster2 = 0
thrust.thruster3 = 0
thrust.thruster4 = 0
thrust.thruster5 = 0
if xbox.liftOn:
printD("Turning Thruster Off")
xbox.liftOn = False
thrust.lift = 0
else:
printD("Turning Thruster On")
thrust.lift = liftPower
xbox.liftOn = True
xbox.thrusterPub.publish(thrust)
elif start == 0 and xbox.startButtonDepressed:
xbox.startButtonDepressed = False
if xbox.liftOn:
thrust.lift = liftPower
thrust.thruster1 = 0
thrust.thruster2 = 0
thrust.thruster3 = 0
thrust.thruster4 = 0
thrust.thruster5 = 0
#Rotational Controls
if rotateAxis < -.1:
thrust.thruster4 = 0
thrust.thruster5 = rotatePower * thrustModifier * const.t5mod
elif rotateAxis > .1:
thrust.thruster4 = rotatePower * thrustModifier * const.t4mod
thrust.thruster5 =0
#Translation Controls
if yAxisR > .1 :
thrust.thruster2 = yAxisR
thrust.thruster3 = yAxisR
elif yAxisR < -.1:
thrust.thruster1 = -yAxisR
else:
thrust.thruster1 = 0
thrust.thruster2 = 0
thrust.thruster3 = 0
'''
The theory behind this:
Orientation: Right is 0 degrees. Increasing in clockwise direction. 360 is 0
There are three critical points: 90, 210, and 330 degrees. These are the points where only
one thruster is needed.
So the thruster1 range should increase from -30 degrees to 90 degrees, and decrease from
90 to 210 degrees. I'm assuming it should be continuous and equally distributed.
If the power for thruster1 is 1 at 90 degrees, then it should be 1-(1/120) at 89 degrees,
or 91 degrees. Etc...
The angles are normalized so I don't have to worry about negative numbers.
''''''
#Thruster1
if t1angle < t1crit:
thrust.thruster1 = 1.0 - ((t1crit - t1angle)*(increment))
elif t1angle == t1crit:
thrust.thruster1 = 1.0
elif t1angle > t1crit:
thrust.thruster1 = 1.0 - ((t1angle - t1crit)*(increment))
#Thruster2
if t2angle < t2crit:
thrust.thruster2 = 1.0 - ((t2crit - t2angle)*(increment))
elif t2angle == t2crit:
thrust.thruster2 = 1.0
elif t2angle > t2crit:
thrust.thruster2 = 1.0 - ((t2angle - t2crit)*(increment))
#Thruster3
if t3angle < t3crit:
thrust.thruster3 = 1.0 - ((t3crit - t3angle)*(increment))
elif t3angle == t3crit:
thrust.thruster3 = 1.0
elif t3angle > t3crit:
thrust.thruster3 = 1.0 - ((t3angle - t3crit)*(increment))'''
#Power Dampening and Correction
thrust.thruster1 = 0 if thrust.thruster1 < 0 else thrust.thruster1
thrust.thruster2 = 0 if thrust.thruster2 < 0 else thrust.thruster2
thrust.thruster3 = 0 if thrust.thruster3 < 0 else thrust.thruster3
thrust.thruster1 = thrust.thruster1 * thrustModifier * translatePower *const.t1mod
thrust.thruster2 = thrust.thruster2 * thrustModifier * translatePower *const.t2mod
thrust.thruster3 = thrust.thruster3 * thrustModifier * translatePower *const.t3mod
#Debug
if DEBUG and xbox.liftOn:
print "xAxisR:",xAxisR,"\tyAxisR",yAxisR,"\tRotate Axis:",rotateAxis
print "LiftStatus:",xbox.liftOn,"\tStartButtonDepressed",xbox.startButtonDepressed
#print "Angle",angle,"\tt1angle:",t1angle,"\tt2angle:",t2angle,"\tt3angle:",t3angle
print "Thruster1:",thrust.thruster1,"\tThruster2:",thrust.thruster2
print "Thruster3:",thrust.thruster3,"\tThruster4:",thrust.thruster4
print "Thruster5:",thrust.thruster5,"\tLift:",thrust.lift,"\n"
xbox.thrusterPub.publish(thrust)
