class MotorCtl(object):
def __init__(self,motornum,motorname):
self.sernum=motornum
self.motorName=motorname
self.mc = MotorControl()
try:
self.mc.openPhidget(self.sernum)
self.mc.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
self.motorstate_d={'motor':0,'serial':self.sernum,'state':0,'velocity':0,'ticks':0}
self.motordata=Int32MultiArray()
self.motordata.layout.dim = [MultiArrayDimension('motor_state',4,1)]
self.motordata.data=self.motorstate_d.values()
self.rsp = rospy.Publisher('phidget_motor_state',Int32MultiArray,queue_size=10)
rospy.init_node('aux_motor_ctl',anonymous=True)
rospy.on_shutdown(self.shutdown)
robotrate=10
r=rospy.Rate(robotrate)
def shutdown(self):
# Always stop the robot when shutting down the node.
#Stop the motor
self.mc.setVelocity(self.motorstate_d['motor'],0)
rospy.loginfo("Stopping the Node...")
rospy.sleep(1)
def procMotorCtl(self,data):
rospy.loginfo("Got command for motor=%s command=%f",self.motorName,data.data[1])
self.motorCmd(data.data[0],data.data[1])
def motorCmd(self,motor,velocity):
self.mc.setAcceleration(motor, 50.00)
self.mc.setVelocity(motor, velocity)
self.motorstate_d['motor']=motor
self.motorstate_d['velocity']=velocity
if velocity >0:
self.motorstate_d['state']=1
else:
self.motorstate_d['state']=0
self.motorstate_d['ticks']=self.mc.getEncoderPosition(0)
rospy.loginfo("encoder ticks=%d",self.motorstate_d['ticks'])
print (self.motorstate_d.values())
self.motordata.data=self.motorstate_d.values()
self.rsp.publish(self.motordata)
def runner(self):
motorCtl = rospy.Subscriber('motor_ctl',Int32MultiArray,self.procMotorCtl)
rospy.spin()
try:
motorControl.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
#Control the motor a bit.
print("Will now simulate motor operation....")
print("Step 1: increase acceleration to 50, set target speed at 100")
try:
motorControl.setAcceleration(0, 50.00)
motorControl.setVelocity(0, 100.00)
sleep(5) #sleep for 5 seconds
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Step 2: Set acceleration to 100, decrease target speed to 75")
try:
motorControl.setAcceleration(0, 100.00)
motorControl.setVelocity(0, 75.00)
sleep(5) #sleep for 5 seconds
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Step 3: Stop the motor by decreasing speed to 0 at 50 acceleration")
try:
result = motors_receiver.recv_json()
print(result)
if 'rel' in result:
print("Relative Settings...")
try:
lar = motorControlL.getAcceleration(0)
rar = motorControlR.getAcceleration(0)
lvr = motorControlL.getAcceleration(0)
rvr = motorControlR.getAcceleration(0)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
motorControlL.setAcceleration(0, (int(result['leftA']) + lar) )
motorControlR.setAcceleration(0, (int(result['rightA']) + rar) )
motorControlL.setVelocity(0, (int(result['leftV']) + lvr) )
motorControlR.setVelocity(0, (int(result['rightV']) + rvr) )
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
else:
print("Absolute Settings...")
print("%s :: leftV = %s, rightV = %s, leftA = %s, rightA = %s" % (str(datetime.now()),result['leftV'],result['rightV'],result['leftA'],result['rightA']) )
#fix bad accelearation values
if result['leftA'] < Amin:
leftA = Amax
elif result['leftA'] > Amax:
leftA = Amax
else:
class IOTools:
def __init__(self, onRobot):
self.onRobot = onRobot
# Camera
self._openCam=False
# Motor Control
self._snMot=-1
self._openMot=False
self._attachedMot=False
self._cur = [0, 0]
# Servo
self._snSer=-1
self._openSer=False
self._attachedSer=False
self._limits = [0, 0]
# IF Kit
self._snIF=-1
self._openIF=False
self._attachedIF=False
self._inp = [0, 0, 0, 0, 0, 0, 0, 0]
self._sen = [0, 0, 0, 0, 0, 0, 0, 0]
# LEDs
self._fistTime = True
self._status = [0,0,0]
self._mod = [8, 1, 1]
self._rep = [-1, 5, 6]
self._val = [True, False, False]
self._ofs = [0, 0, 0]
self._updaterThread = threading.Thread(target=self.__updateLED)
self._stop = False
self._updaterThread.setDaemon(True)
self._updaterThread.start()
def destroy(self):
# LEDs
self._stop = True
if self._attachedIF:
self._interfaceKit.setOutputState(0, 0)
self._interfaceKit.setOutputState(1, 0)
self._interfaceKit.setOutputState(2, 0)
# Servo
self.servoDisengage()
# Camera
self._openCam = False
if self._openCam:
self._cap.release()
def open(self):
self.__openIF()
self.__openMot()
self.__openSer()
self.__openCam()
###################### Camera ######################
def __openCam(self):
if not os.path.exists('/dev/video0'):
return False
self._cap = cv2.VideoCapture()
if not self._cap.open(-1):
return False
self._openCam = True
def cameraGrab(self):
if self._openCam:
return self._cap.grab()
else:
return False
def cameraRead(self):
if self._openCam:
(ret, img)=self._cap.retrieve()
return img
else:
return False
def cameraSetResolution(self, sz):
"""
:rtype : object
"""
if self._openCam:
sz=sz.lower()
if sz=='low':
self._cap.set(3,160)
self._cap.set(4,120)
if sz=='medium':
self._cap.set(3,640)
self._cap.set(4,480)
if sz=='high':
self._cap.set(3,800)
self._cap.set(4,600)
if sz=='full':
self._cap.set(3,1280)
self._cap.set(4,720)
def imshow(self, wnd, img):
if not self.onRobot:
if img.__class__ != numpy.ndarray:
print "imshow - invalid image"
return False
else:
cv2.imshow(wnd,img)
cv2.waitKey(5)
####################### Servo ######################
def __openSer(self):
try:
self._advancedServo = AdvancedServo()
except RuntimeError as e:
print("Servo - Runtime Exception: %s" % e.details)
return False
try:
self._advancedServo.setOnAttachHandler(self.__onAttachedSer)
self._advancedServo.setOnDetachHandler(self.__onDetachedSer)
self._advancedServo.setOnErrorhandler(self.__onErrorSer)
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
return False
try:
self._advancedServo.openPhidget()
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
return False
self._openSer=True
return True
def __onAttachedSer(self,e):
self._snSer = e.device.getSerialNum()
self._advancedServo.setServoType(0, ServoTypes.PHIDGET_SERVO_HITEC_HS322HD)
self._advancedServo.setAcceleration(0, self._advancedServo.getAccelerationMax(0))
self._advancedServo.setVelocityLimit(0, self._advancedServo.getVelocityMax(0))
self._limits[0] = self._advancedServo.getPositionMin(0)
self._limits[1] = self._advancedServo.getPositionMax(0)
print("Servo %i Attached! Range: %f - %f" % (self._snSer, self._limits[0], self._limits[1]))
self._attachedSer=True
def __onDetachedSer(self,e ):
print("Servo %i Detached!" % (self._snSer))
self._snSer = -1
self._attachedSer=False
def __onErrorSer(self, e):
try:
source = e.device
print("Servo %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
def __closeSer(self):
if self._openSer==True:
self.servoDisengage()
self._advancedServo.closePhidget()
def servoEngage(self):
if self._attachedSer==True:
self._advancedServo.setEngaged(0, True)
def servoDisengage(self):
if self._attachedSer==True:
self._advancedServo.setEngaged(0, False)
def servoSet(self, pos):
if self._attachedSer==True:
self._advancedServo.setPosition(0, min(max(pos,self._limits[0]),self._limits[1]))
############### Motor Control ######################
def __openMot(self):
try:
self._motorControl = MotorControl()
except RuntimeError as e:
print("Motor Control - Runtime Exception: %s" % e.details)
return False
try:
self._motorControl.setOnAttachHandler(self.__onAttachedMot)
self._motorControl.setOnDetachHandler(self.__onDetachedMot)
self._motorControl.setOnErrorhandler(self.__onErrorMot)
self._motorControl.setOnCurrentChangeHandler(self.__onCurrentChangedMot)
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details))
return False
try:
self._motorControl.openPhidget()
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details))
return False
self._openMot=True
return True
def __onAttachedMot(self,e):
self._snMot = e.device.getSerialNum()
print("Motor Control %i Attached!" % (self._snMot))
self._attachedMot=True
def __onDetachedMot(self,e ):
print("Motor Control %i Detached!" % (self._snMot))
self._snMot = -1
self._attachedMot=False
def __onErrorMot(self, e):
try:
source = e.device
print("Motor Control %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details))
def __onCurrentChangedMot(self, e):
self._cur[e.index] = e.current
def __closeMot(self):
if self._openMot==True:
self._motorControl.closePhidget()
def setMotors(self, speed1=0.0, speed2=0.0, acceleration1=100.0, acceleration2=100.0 ):
if self._openMot==True:
self._motorControl.setAcceleration(0, acceleration1)
self._motorControl.setVelocity(0, speed1)
self._motorControl.setAcceleration(1, acceleration2)
self._motorControl.setVelocity(1, speed2)
############### Interface Kit ######################
def __closeIF(self):
if self._openIF==True:
self._interfaceKit.closePhidget()
def __openIF(self):
try:
self._interfaceKit = InterfaceKit()
except RuntimeError as e:
print("IF Kit - Runtime Exception: %s" % e.details)
return False
try:
self._interfaceKit.setOnAttachHandler(self.__onAttachedIF)
self._interfaceKit.setOnDetachHandler(self.__onDetachedIF)
self._interfaceKit.setOnErrorhandler(self.__onErrorIF)
self._interfaceKit.setOnInputChangeHandler(self.__onInputChangedIF)
self._interfaceKit.setOnSensorChangeHandler(self.__onSensorChangedIF)
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
return False
try:
self._interfaceKit.openPhidget()
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
return False
self._openIF=True
return True
def __onAttachedIF(self,e):
self._snIF = e.device.getSerialNum()
print("InterfaceKit %i Attached!" % (self._snIF))
self._attachedIF=True
if self._fistTime:
for i in range(0,3):
self._interfaceKit.setOutputState(0, 1)
self._interfaceKit.setOutputState(1, 1)
self._interfaceKit.setOutputState(2, 1)
time.sleep(0.1)
self._interfaceKit.setOutputState(0, 0)
self._interfaceKit.setOutputState(1, 0)
self._interfaceKit.setOutputState(2, 0)
time.sleep(0.1)
self._fistTime = False
def __onDetachedIF(self,e ):
print("InterfaceKit %i Detached!" % (self._snIF))
self._snIF = -1
self._inp = [0, 0, 0, 0, 0, 0, 0, 0]
self._sen = [0, 0, 0, 0, 0, 0, 0, 0]
self._attachedIF=False
def __onErrorIF(self, e):
try:
source = e.device
print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
def __onSensorChangedIF(self, e):
self._sen[e.index] = e.value
def __onInputChangedIF(self, e):
self._inp[e.index] = e.state
def getSensors(self):
"""
:rtype : object
"""
return self._sen;
def getInputs(self):
return self._inp;
################ LEDs #######################
def __updateLED(self):
t=0
while self._stop==False:
t=(t+1)%100
for i in range(0,3):
self._status[i]=((t+self._ofs[i])%self._mod[i]==0) and self._val[i] and bool(self._rep[i])
self._rep[i]=self._rep[i]-int(self._rep[i]>0 and self._status[i])
if self._attachedIF:
self._interfaceKit.setOutputState(i, self._status[i])
time.sleep(0.15)
def __setModeLED(self, i, mode, hz=2, cnt=1, ofs=0):
if mode=='on':
self._rep[i]=-1
self._val[i]=True
self._ofs[i]=0
self._mod[i]=1
if mode=='off':
self._rep[i]=-1
self._val[i]=False
self._ofs[i]=0
self._mod[i]=1
if mode=='flash':
hz=min(max(hz,1),100)
self._rep[i]=min(max(cnt,1),20)
self._val[i]=True
self._ofs[i]=min(max(ofs,0),hz)
self._mod[i]=hz
def setStatus(self, mode, hz=2, cnt=1, ofs=0):
self.__setModeLED(1,mode, hz, cnt, ofs)
def setError(self, mode, hz=2, cnt=1, ofs=0):
self.__setModeLED(2,mode, hz, cnt, ofs)
def setSemaphor(self):
self.__setModeLED(1,'flash', 2, 6, 0)
self.__setModeLED(2,'flash', 2, 6, 1)
print "waitForAttach() failed"
print "code: %d" % e.code
print "message", e.message
raise
if motorControl.isAttached():
print "motor control attached"
else:
print "motor attach Failed"
encoder.setPosition(whichEncoder, 0)
encoder.setEnabled(whichEncoder, True)
averageAcceleration = (motorControl.getAccelerationMax(whichMotor) - motorControl.getAccelerationMin(whichMotor)) * 0.9
print "averageAcceleration", averageAcceleration
motorControl.setAcceleration(whichMotor, averageAcceleration)
position = encoder.getPosition(whichEncoder)
print "Starting position", position
startTime = time.clock()
motorControl.setVelocity(whichMotor, velocity)
try:
while position < pulsesWanted:
position = encoder.getPosition(whichEncoder) * encoderSign
print "Position", position, "Current", motorControl.getCurrent(whichMotor), "\r",
except:
print "Aborted"
pass
endTime = time.clock()
try:
motorControl.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
#Control the motor a bit.
print("Will now simulate motor operation....")
print("Step 1: increase acceleration to 50, set target speed at 100")
try:
motorControl.setAcceleration(0, 50.00)
motorControl.setVelocity(0, 100.00)
sleep(5) #sleep for 5 seconds
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Step 2: Set acceleration to 100, decrease target speed to 75")
try:
motorControl.setAcceleration(0, 100.00)
motorControl.setVelocity(0, 75.00)
sleep(5) #sleep for 5 seconds
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Step 3: Stop the motor by decreasing speed to 0 at 50 acceleration")
try:
class IOTools:
def __init__(self, onRobot):
self.onRobot = onRobot
# Camera
self._openCam = False
# Motor Control
self._snMot = -1
self._openMot = False
self._attachedMot = False
self._cur = [0, 0]
# Servo
self._snSer = -1
self._openSer = False
self._attachedSer = False
self._limits = [0, 0]
# IF Kit
self._snIF = -1
self._openIF = False
self._attachedIF = False
self._inp = [0, 0, 0, 0, 0, 0, 0, 0]
self._sen = [0, 0, 0, 0, 0, 0, 0, 0]
# LEDs
self._fistTime = True
self._status = [0, 0, 0]
self._mod = [8, 1, 1]
self._rep = [-1, 5, 6]
self._val = [True, False, False]
self._ofs = [0, 0, 0]
self._updaterThread = threading.Thread(target=self.__updateLED)
self._stop = False
self._updaterThread.setDaemon(True)
self._updaterThread.start()
def destroy(self):
# LEDs
self._stop = True
if self._attachedIF:
self._interfaceKit.setOutputState(0, 0)
self._interfaceKit.setOutputState(1, 0)
self._interfaceKit.setOutputState(2, 0)
# Servo
self.servoDisengage()
# Camera
self._openCam = False
if self._openCam:
self._cap.release()
def open(self):
self.__openIF()
self.__openMot()
self.__openSer()
self.__openCam()
###################### Camera ######################
def __openCam(self):
if not os.path.exists('/dev/video0'):
return False
self._cap = cv2.VideoCapture()
if not self._cap.open(-1):
return False
self._openCam = True
def cameraGrab(self):
if self._openCam:
return self._cap.grab()
else:
return False
def cameraRead(self):
if self._openCam:
(ret, img) = self._cap.retrieve()
return img
else:
return False
def cameraSetResolution(self, sz):
if self._openCam:
sz = sz.lower()
if sz == 'low':
self._cap.set(3, 160)
self._cap.set(4, 120)
if sz == 'medium':
self._cap.set(3, 640)
self._cap.set(4, 480)
if sz == 'high':
self._cap.set(3, 800)
self._cap.set(4, 600)
if sz == 'full':
self._cap.set(3, 1280)
self._cap.set(4, 720)
def imshow(self, wnd, img):
if not self.onRobot:
if img.__class__ != numpy.ndarray:
print "imshow - invalid image"
return False
else:
cv2.imshow(wnd, img)
cv2.waitKey(5)
####################### Servo ######################
def __openSer(self):
try:
self._advancedServo = AdvancedServo()
except RuntimeError as e:
print("Servo - Runtime Exception: %s" % e.details)
return False
try:
self._advancedServo.setOnAttachHandler(self.__onAttachedSer)
self._advancedServo.setOnDetachHandler(self.__onDetachedSer)
self._advancedServo.setOnErrorhandler(self.__onErrorSer)
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
return False
try:
self._advancedServo.openPhidget()
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
return False
self._openSer = True
return True
def __onAttachedSer(self, e):
self._snSer = e.device.getSerialNum()
self._advancedServo.setServoType(
0, ServoTypes.PHIDGET_SERVO_HITEC_HS322HD)
self._advancedServo.setAcceleration(
0, self._advancedServo.getAccelerationMax(0))
self._advancedServo.setVelocityLimit(
0, self._advancedServo.getVelocityMax(0))
self._limits[0] = self._advancedServo.getPositionMin(0)
self._limits[1] = self._advancedServo.getPositionMax(0)
print("Servo %i Attached! Range: %f - %f" %
(self._snSer, self._limits[0], self._limits[1]))
self._attachedSer = True
def __onDetachedSer(self, e):
print("Servo %i Detached!" % (self._snSer))
self._snSer = -1
self._attachedSer = False
def __onErrorSer(self, e):
try:
source = e.device
print("Servo %i: Phidget Error %i: %s" %
(source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("Servo - Phidget Exception %i: %s" % (e.code, e.details))
def __closeSer(self):
if self._openSer == True:
self.servoDisengage()
self._advancedServo.closePhidget()
def servoEngage(self):
if self._attachedSer == True:
self._advancedServo.setEngaged(0, True)
def servoDisengage(self):
if self._attachedSer == True:
self._advancedServo.setEngaged(0, False)
def servoSet(self, pos):
if self._attachedSer == True:
self._advancedServo.setPosition(
0, min(max(pos, self._limits[0]), self._limits[1]))
############### Motor Control ######################
def __openMot(self):
try:
self._motorControl = MotorControl()
except RuntimeError as e:
print("Motor Control - Runtime Exception: %s" % e.details)
return False
try:
self._motorControl.setOnAttachHandler(self.__onAttachedMot)
self._motorControl.setOnDetachHandler(self.__onDetachedMot)
self._motorControl.setOnErrorhandler(self.__onErrorMot)
self._motorControl.setOnCurrentChangeHandler(
self.__onCurrentChangedMot)
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" %
(e.code, e.details))
return False
try:
self._motorControl.openPhidget()
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" %
(e.code, e.details))
return False
self._openMot = True
return True
def __onAttachedMot(self, e):
self._snMot = e.device.getSerialNum()
print("Motor Control %i Attached!" % (self._snMot))
self._attachedMot = True
def __onDetachedMot(self, e):
print("Motor Control %i Detached!" % (self._snMot))
self._snMot = -1
self._attachedMot = False
def __onErrorMot(self, e):
try:
source = e.device
print("Motor Control %i: Phidget Error %i: %s" %
(source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" %
(e.code, e.details))
def __onCurrentChangedMot(self, e):
self._cur[e.index] = e.current
def __closeMot(self):
if self._openMot == True:
self._motorControl.closePhidget()
def setMotors(self,
speed1=0.0,
speed2=0.0,
acceleration1=100.0,
acceleration2=100.0):
if self._openMot == True:
self._motorControl.setAcceleration(0, acceleration1)
self._motorControl.setVelocity(0, speed1)
self._motorControl.setAcceleration(1, acceleration2)
self._motorControl.setVelocity(1, speed2)
############### Interface Kit ######################
def __closeIF(self):
if self._openIF == True:
self._interfaceKit.closePhidget()
def __openIF(self):
try:
self._interfaceKit = InterfaceKit()
except RuntimeError as e:
print("IF Kit - Runtime Exception: %s" % e.details)
return False
try:
self._interfaceKit.setOnAttachHandler(self.__onAttachedIF)
self._interfaceKit.setOnDetachHandler(self.__onDetachedIF)
self._interfaceKit.setOnErrorhandler(self.__onErrorIF)
self._interfaceKit.setOnInputChangeHandler(self.__onInputChangedIF)
self._interfaceKit.setOnSensorChangeHandler(
self.__onSensorChangedIF)
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
return False
try:
self._interfaceKit.openPhidget()
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
return False
self._openIF = True
return True
def __onAttachedIF(self, e):
self._snIF = e.device.getSerialNum()
print("InterfaceKit %i Attached!" % (self._snIF))
self._attachedIF = True
if self._fistTime:
for i in range(0, 3):
self._interfaceKit.setOutputState(0, 1)
self._interfaceKit.setOutputState(1, 1)
self._interfaceKit.setOutputState(2, 1)
time.sleep(0.1)
self._interfaceKit.setOutputState(0, 0)
self._interfaceKit.setOutputState(1, 0)
self._interfaceKit.setOutputState(2, 0)
time.sleep(0.1)
self._fistTime = False
def __onDetachedIF(self, e):
print("InterfaceKit %i Detached!" % (self._snIF))
self._snIF = -1
self._inp = [0, 0, 0, 0, 0, 0, 0, 0]
self._sen = [0, 0, 0, 0, 0, 0, 0, 0]
self._attachedIF = False
def __onErrorIF(self, e):
try:
source = e.device
print("InterfaceKit %i: Phidget Error %i: %s" %
(source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details))
def __onSensorChangedIF(self, e):
self._sen[e.index] = e.value
def __onInputChangedIF(self, e):
self._inp[e.index] = e.state
def getSensors(self):
return self._sen
def getInputs(self):
return self._inp
################ LEDs #######################
def __updateLED(self):
t = 0
while self._stop == False:
t = (t + 1) % 100
for i in range(0, 3):
self._status[i] = ((t + self._ofs[i]) % self._mod[i]
== 0) and self._val[i] and bool(
self._rep[i])
self._rep[i] = self._rep[i] - int(self._rep[i] > 0
and self._status[i])
if self._attachedIF:
self._interfaceKit.setOutputState(i, self._status[i])
time.sleep(0.15)
def __setModeLED(self, i, mode, hz=2, cnt=1, ofs=0):
if mode == 'on':
self._rep[i] = -1
self._val[i] = True
self._ofs[i] = 0
self._mod[i] = 1
if mode == 'off':
self._rep[i] = -1
self._val[i] = False
self._ofs[i] = 0
self._mod[i] = 1
if mode == 'flash':
hz = min(max(hz, 1), 100)
self._rep[i] = min(max(cnt, 1), 20)
self._val[i] = True
self._ofs[i] = min(max(ofs, 0), hz)
self._mod[i] = hz
def setStatus(self, mode, hz=2, cnt=1, ofs=0):
self.__setModeLED(1, mode, hz, cnt, ofs)
def setError(self, mode, hz=2, cnt=1, ofs=0):
self.__setModeLED(2, mode, hz, cnt, ofs)
def setSemaphor(self):
self.__setModeLED(1, 'flash', 2, 6, 0)
self.__setModeLED(2, 'flash', 2, 6, 1)
class MotorCtl(object):
def __init__(self, motornum, motorname):
self.sernum = motornum
self.motorName = motorname
self.mc = MotorControl()
try:
self.mc.openPhidget(self.sernum)
self.mc.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
self.motorstate_d = {
'motor': 0,
'serial': self.sernum,
'state': 0,
'velocity': 0,
'ticks': 0
}
self.motordata = Int32MultiArray()
self.motordata.layout.dim = [MultiArrayDimension('motor_state', 4, 1)]
self.motordata.data = self.motorstate_d.values()
self.rsp = rospy.Publisher('phidget_motor_state',
Int32MultiArray,
queue_size=10)
rospy.init_node('aux_motor_ctl', anonymous=True)
rospy.on_shutdown(self.shutdown)
robotrate = 10
r = rospy.Rate(robotrate)
def shutdown(self):
# Always stop the robot when shutting down the node.
#Stop the motor
self.mc.setVelocity(self.motorstate_d['motor'], 0)
rospy.loginfo("Stopping the Node...")
rospy.sleep(1)
def procMotorCtl(self, data):
rospy.loginfo("Got command for motor=%s command=%f", self.motorName,
data.data[1])
self.motorCmd(data.data[0], data.data[1])
def motorCmd(self, motor, velocity):
self.mc.setAcceleration(motor, 50.00)
self.mc.setVelocity(motor, velocity)
self.motorstate_d['motor'] = motor
self.motorstate_d['velocity'] = velocity
if velocity > 0:
self.motorstate_d['state'] = 1
else:
self.motorstate_d['state'] = 0
self.motorstate_d['ticks'] = self.mc.getEncoderPosition(0)
rospy.loginfo("encoder ticks=%d", self.motorstate_d['ticks'])
print(self.motorstate_d.values())
self.motordata.data = self.motorstate_d.values()
self.rsp.publish(self.motordata)
def runner(self):
motorCtl = rospy.Subscriber('motor_ctl', Int32MultiArray,
self.procMotorCtl)
rospy.spin()
motor_current_output = []
torque_sensor_output = []
position_output = []
velocity_output = []
# Main loop
for direction in inputs.keys():
if direction == 'Open':
difference = position_difference[0]
else:
difference = position_difference[1]
while difference > 1:
# Set accleeration to 50%
try:
motor.setAcceleration(0, 50)
except PhidgetException as error:
print ('Phidget Error %i: %s' % (error.code, error.details))
# Speed & error depend on the direction we're going
if direction == 'Open':
try:
motor.setVelocity(0, PWM_duty_cycle[0]) # Set the OPEN speed as positive
except PhidgetException as error:
print ('Phidget Error %i: %s' % (error.code, error.details))
commanded_position = commanded_position[0] # Set using the OPEN index
else:
try:
motor.setVelocity(0, -PWM_duty_cycle[1]) # Set the CLOSE speed as negative
except PhidgetException as error:
result = motors_receiver.recv_json()
print(result)
if 'rel' in result:
print("Relative Settings...")
try:
lar = motorControlL.getAcceleration(0)
rar = motorControlR.getAcceleration(0)
lvr = motorControlL.getAcceleration(0)
rvr = motorControlR.getAcceleration(0)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
motorControlL.setAcceleration(0, (int(result['leftA']) + lar))
motorControlR.setAcceleration(0, (int(result['rightA']) + rar))
motorControlL.setVelocity(0, (int(result['leftV']) + lvr))
motorControlR.setVelocity(0, (int(result['rightV']) + rvr))
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
else:
print("Absolute Settings...")
print("%s :: leftV = %s, rightV = %s, leftA = %s, rightA = %s" %
(str(datetime.now()), result['leftV'], result['rightV'],
result['leftA'], result['rightA']))
#fix bad accelearation values
if result['leftA'] < Amin:
leftA = Amax
elif result['leftA'] > Amax:
