def sendDesiredPumpPsi(self, desiredPsi):
msg = atlas.pump_command_t()
msg.utime = getUtime()
msg.k_psi_p = 0.0 # Gain on pressure error (A/psi)
msg.k_psi_i = 0.0 # Gain on the integral of the pressure error (A/(psi/s)
msg.k_psi_d = 0.0 # Gain on the derivative of the pressure error (A/(psi s)
msg.k_rpm_p = 0.0 # Gain on rpm error (A / rpm)
msg.k_rpm_i = 0.0 # Gain on the integral of the rpm error (A / (rpm s))
msg.k_rpm_d = 0.0 # Gain on the derivative of the rpm error (A / (rpm/s)
msg.ff_rpm_d = 0.0 # Feed-forward gain on the desired rpm (A / rpm)
msg.ff_psi_d = 0.0 # Feed-forward gain on the desired pressure (A / psi)
msg.ff_const = 0.0 # Constant current term (Amps)
msg.psi_i_max = 0.0 # Max. abs. value to which the integral psi error is clamped (psi s)
msg.rpm_i_max = 0.0 # Max. abs. value to which the integral rpm error is clamped (rpm s)
# Max. command output (A). Default is 60 Amps.
# This value may need to be lower than the default in order to avoid
# causing the motor driver to fault.
msg.cmd_max = 60
msg.desired_psi = desiredPsi # default should be 1500
msg.desired_rpm = 5000 # default should be 5000
lcmUtils.publish('ATLAS_PUMP_COMMAND', msg)
def sendDesiredPumpPsi(self, desiredPsi):
msg = atlas.pump_command_t()
msg.utime = getUtime()
msg.k_psi_p = 0.0 # Gain on pressure error (A/psi)
msg.k_psi_i = 0.0 # Gain on the integral of the pressure error (A/(psi/s)
msg.k_psi_d = 0.0 # Gain on the derivative of the pressure error (A/(psi s)
msg.k_rpm_p = 0.0 # Gain on rpm error (A / rpm)
msg.k_rpm_i = 0.0 # Gain on the integral of the rpm error (A / (rpm s))
msg.k_rpm_d = 0.0 # Gain on the derivative of the rpm error (A / (rpm/s)
msg.ff_rpm_d = 0.0 # Feed-forward gain on the desired rpm (A / rpm)
msg.ff_psi_d = 0.0 # Feed-forward gain on the desired pressure (A / psi)
msg.ff_const = 0.0 # Constant current term (Amps)
msg.psi_i_max = 0.0 # Max. abs. value to which the integral psi error is clamped (psi s)
msg.rpm_i_max = 0.0 # Max. abs. value to which the integral rpm error is clamped (rpm s)
# Max. command output (A). Default is 60 Amps.
# This value may need to be lower than the default in order to avoid
# causing the motor driver to fault.
msg.cmd_max = 60
msg.desired_psi = desiredPsi # default should be 1500
msg.desired_rpm = 5000 # default should be 5000
lcmUtils.publish('ATLAS_PUMP_COMMAND', msg)
def publish_pump_command(self):
print "Publishing new desired pump pressure: {:d} PSI".format(self.desired_psi)
msg = lcmatlas.pump_command_t()
msg.desired_psi = self.desired_psi
msg.desired_rpm = self.desired_rpm
msg.cmd_max = 60.0
msg.utime = int(time.time() * 1e6)
self.lc.publish('ATLAS_PUMP_COMMAND', msg.encode())
self.last_published_psi = self.desired_psi
