caperren/osurc_mars_rover_2017_2018
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Changed readouts for arm, added readouts for gripper w/modes and extra controls. GUI reorganization.

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This commit is contained in:
Corwin Perren
2018-08-07 17:31:28 -07:00
parent 82f02eef66
commit 05b4c85ad2
10 changed files with 4541 additions and 1313 deletions
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7
software/ros_packages/rover_control/src/effectors_control/effectors_control.py
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@@ -80,6 +80,8 @@ DEFAULT_GRIPPER_REGISTERS = [
0, # Light off
]
GRIPPER_UNIVERSAL_POSITION_MAX = 10000
# ##### Mining Defines #####
MINING_MODBUS_REGISTERS = {
"LIFT_SET_POSITIVE": 0,
@@ -97,6 +99,7 @@ MINING_MODBUS_REGISTERS = {
"MEASURED_WEIGHT": 11
}
MINING_POSITIONAL_THRESHOLD = 20
# ##### Science Defines #####
@@ -316,10 +319,10 @@ class EffectorsControl(object):
gripper_relative = self.gripper_control_message.gripper_position_relative
if -1 < gripper_absolute < UINT16_MAX:
self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = gripper_absolute
self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(gripper_absolute, 0), GRIPPER_UNIVERSAL_POSITION_MAX)
else:
new_position = self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] + gripper_relative
self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(new_position, 0), 10000)
self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(new_position, 0), GRIPPER_UNIVERSAL_POSITION_MAX)
self.gripper_node.write_registers(0, self.gripper_registers)