caperren/osurc_mars_rover_2017_2018
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Got channels changing on the m2 radios over ssh with testing script. Adjusted some speed things for compass and arm.

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This commit is contained in:
Corwin Perren
2018-03-13 23:38:00 -07:00
parent 3a1089973d
commit 4e7c0fc4e3
4 changed files with 74 additions and 9 deletions
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4
software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py
View File

@@ -10,9 +10,9 @@ from time import time
#####################################
# Global Variables
#####################################
THREAD_HERTZ = 10
THREAD_HERTZ = 2
ROTATION_SPEED_MODIFIER = 0.015
ROTATION_SPEED_MODIFIER = 0.15
#####################################

23
software/ros_packages/ground_station/src/Framework/NavigationSystems/SpeedAndHeadingIndication.py
View File

@@ -15,7 +15,7 @@ from random import random
#####################################
THREAD_HERTZ = 20
ROTATION_SPEED_MODIFIER = 1
ROTATION_SPEED_MODIFIER = 2.5
#####################################
@@ -56,8 +56,9 @@ class SpeedAndHeadingIndication(QtCore.QThread):
self.current_heading = 0
self.current_heading_changed = True
self.shown_heading = (self.current_heading + 1) % 360
self.shown_heading = (self.current_heading + (1.5 * ROTATION_SPEED_MODIFIER)) % 360
self.current_heading_shown_rotation_angle = 0
self.last_current_heading_shown = 0
self.rotation_direction = 1
def run(self):
@@ -77,16 +78,26 @@ class SpeedAndHeadingIndication(QtCore.QThread):
self.msleep(max(int(self.wait_time - time_diff), 0))
def rotate_compass_if_needed(self):
if int(self.shown_heading) != self.current_heading:
heading_difference = abs(int(self.shown_heading) - self.current_heading)
should_update = False
if heading_difference > ROTATION_SPEED_MODIFIER:
self.shown_heading += self.rotation_direction * ROTATION_SPEED_MODIFIER
self.shown_heading %= 360
should_update = True
elif heading_difference != 0:
self.shown_heading = self.current_heading
should_update = True
if should_update:
self.current_heading_shown_rotation_angle = int(self.shown_heading)
new_compass_image = self.main_compass_image.rotate(self.current_heading_shown_rotation_angle, resample=PIL.Image.BICUBIC)
if self.current_heading_shown_rotation_angle != self.last_current_heading_shown:
new_compass_image = self.main_compass_image.rotate(self.current_heading_shown_rotation_angle, resample=PIL.Image.BICUBIC)
self.last_current_heading_shown = self.current_heading_shown_rotation_angle
self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
self.show_compass_image__signal.emit()
self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
self.show_compass_image__signal.emit()
def update_heading_movement(self):
current_minus_shown = (self.current_heading - self.shown_heading) % 360

2
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -106,7 +106,7 @@
{name: "/rover_status/camera_status", compress: true, rate: 1.0},
{name: "/rover_status/frsky_status", compress: true, rate: 1.0},
{name: "/rover_status/gps_status", compress: true, rate: 1.0},
{name: "/rover_status/jetson_status", compress: true, rate: 0.2},
{name: "/rover_status/jetson_status", compress: true, rate: 1.0},
{name: "/rover_status/misc_status", compress: true, rate: 1.0}]
</rosparam>
</node>