caperren/osurc_mars_rover_2017_2018
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Started adding in xbox controller to gui. Thinking of scrapping spacenav mouse. It kinda sucks. Also, three axes moving on the arm! Time to make an action client for moveitgit add .git add .!

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This commit is contained in:
Corwin Perren
2018-08-02 00:55:44 -07:00
parent 6fd06840ec
commit 047c04ca41
9 changed files with 218 additions and 8 deletions
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34
software/ros_packages/rover_arm/src/rover_arm.cpp
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@@ -1,5 +1,6 @@
#include <string>
#include <iostream>
#include <unistd.h>
#include <ros/ros.h>
#include <ros/console.h>
@@ -13,8 +14,7 @@ int device_address = 1;
////////// Global Variables //////////
// ROS Parameter Defaults
const string default_port = "/dev/ttyUSB0";
const string default_port = "/dev/rover/ttyARM";
// Axis Defaults
const smint32 axis1_max_count = 100000;
@@ -47,6 +47,8 @@ public:
if(arm_bus_handle < 0){
ROS_ERROR("Could not connect to arm");
}
ROS_INFO("Connected to smBus");
}
void run(){
@@ -57,18 +59,40 @@ public:
while(ros::ok()){
smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, device_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, 2, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, 2, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, 3, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, 3, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smint32 status = 0;
while(!(status & STAT_TARGET_REACHED)){
smRead1Parameter(arm_bus_handle, device_address, SMP_STATUS, &status);
smint32 status1 = 0;
smint32 status2 = 0;
smint32 position = 0;
smint32 position1 = 0;
smint32 position2 = 0;
smint32 read_bus_voltage;
while(!(status & STAT_TARGET_REACHED) || !(status1 & STAT_TARGET_REACHED) || !(status2 & STAT_TARGET_REACHED)){
smRead2Parameters(arm_bus_handle, device_address, SMP_STATUS, &status, SMP_ACTUAL_POSITION_FB, &position);
smRead2Parameters(arm_bus_handle, 2, SMP_STATUS, &status1, SMP_ACTUAL_POSITION_FB, &position1);
smRead2Parameters(arm_bus_handle, 3, SMP_STATUS, &status2, SMP_ACTUAL_POSITION_FB, &position2);
smRead1Parameter(arm_bus_handle, device_address, SMP_ACTUAL_BUS_VOLTAGE, &read_bus_voltage);
ROS_INFO("Dir: %u\tVoltage: %ld\tAxis 1: %ld\tAxis 2: %ld\tAxis 3: %ld", dir, read_bus_voltage, position, position1, position2);
}
dir = !dir;
if(dir){
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
}else{
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 330000);
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 50000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 300000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 250000);
}
ros::spinOnce();

2
software/ros_packages/rover_arm/src/simplemotion/busdevice.c
View File

@@ -63,7 +63,7 @@ smbusdevicehandle smBDOpen( const char *devicename )
//all handles in use
if(handle>=SM_MAX_BUSES) return -1;
if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0) //use rs232 lib
if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0 || strncmp(devicename,"/dev/rover/tty",8) == 0)
{
BusDevice[handle].comPort=OpenComport( devicename, SM_BAUDRATE );
if( BusDevice[handle].comPort == -1 )