caperren/osurc_mars_rover_2017_2018
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Changed code so rover can run without FrSky for EXPO

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This commit is contained in:
Corwin Perren
2018-05-17 21:46:59 -07:00
parent 1d9797f00b
commit 23035c11ba
9 changed files with 291 additions and 79 deletions
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8
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -91,10 +91,10 @@ class DriveCoordinator(object):
sleep(max(self.wait_time - time_diff, 0))
def process_drive_commands(self):
if not self.drive_command_data["iris"]["message"].ignore_drive_control:
self.send_drive_control_command(self.drive_command_data["iris"])
else:
self.send_drive_control_command(self.drive_command_data["ground_station"])
# if not self.drive_command_data["iris"]["message"].ignore_drive_control:
# self.send_drive_control_command(self.drive_command_data["iris"])
# else:
self.send_drive_control_command(self.drive_command_data["ground_station"])
def send_drive_control_command(self, drive_command_data):

10
software/ros_packages/rover_control/src/drive_control/drive_control.py
View File

@@ -68,6 +68,11 @@ class DriveControl(object):
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
print self.port
self.first_motor_id = rospy.get_param("~first_motor_id", FIRST_MOTOR_ID)
self.second_motor_id = rospy.get_param("~second_motor_id", SECOND_MOTOR_ID)
self.first_motor_inverted = rospy.get_param("~invert_first_motor", DEFAULT_INVERT)
self.second_motor_inverted = rospy.get_param("~invert_second_motor", DEFAULT_INVERT)
@@ -117,6 +122,7 @@ class DriveControl(object):
print "Error occurred:", error
if (time() - self.bogie_last_seen) > BOGIE_LAST_SEEN_TIMEOUT:
print "Bogie not seen for", BOGIE_LAST_SEEN_TIMEOUT, "seconds. Exiting."
return # Exit so respawn can take over
time_diff = time() - start_time
@@ -124,8 +130,8 @@ class DriveControl(object):
sleep(max(self.wait_time - time_diff, 0))
def connect_to_bogie(self):
self.first_motor = minimalmodbus.Instrument(self.port, FIRST_MOTOR_ID)
self.second_motor = minimalmodbus.Instrument(self.port, SECOND_MOTOR_ID)
self.first_motor = minimalmodbus.Instrument(self.port, int(self.first_motor_id))
self.second_motor = minimalmodbus.Instrument(self.port, int(self.second_motor_id))
self.__setup_minimalmodbus_for_485()
def send_drive_control_message(self):