caperren/osurc_mars_rover_2017_2018
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Mainly controller and mapping changes. Added empty effectors control of gripper.

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This commit is contained in:
Corwin Perren
2018-08-07 00:24:10 -07:00
parent 5e65f9dfdd
commit 57fe71fd76
11 changed files with 270 additions and 147 deletions
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68
software/ros_packages/rover_control/src/effectors_control/effectors_control.py
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@@ -20,14 +20,15 @@ from rover_control.msg import MiningControlMessage, MiningStatusMessage
NODE_NAME = "effectors_control"
# ##### Communication Defines #####
DEFAULT_PORT = "/dev/rover/ttyEffectors"
# DEFAULT_PORT = "/dev/rover/ttyEffectors"
DEFAULT_PORT = "/dev/ttyUSB0"
DEFAULT_BAUD = 115200
GRIPPER_NODE_ID = 1
MINING_NODE_ID = 2
SCIENCE_NODE_ID = 3
GRIPPER_TIMEOUT = 0.15
GRIPPER_TIMEOUT = 0.5
MINING_TIMEOUT = 0.3
SCIENCE_TIMEOUT = 0.15
@@ -150,25 +151,30 @@ class EffectorsControl(object):
# self.initialize_mining_system()
while not rospy.is_shutdown():
try:
self.process_mining_control_message()
except IOError, e:
print e
if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
print "Lost connection to mining system. Exiting for reconnect."
return
except Exception, e:
print e
# try:
# self.process_mining_control_message()
# except IOError, e:
# # print e
# if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
# print "Lost connection to mining system. Exiting for reconnect."
# return
# except Exception, e:
# pass
#
# try:
# self.send_mining_status_message()
# except IOError, e:
# print e
# if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
# print "Lost connection to mining system. Exiting for reconnect."
# return
# except Exception, e:
# pass
try:
self.send_mining_status_message()
except IOError, e:
print e
if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
print "Lost connection to mining system. Exiting for reconnect."
return
except Exception, e:
print e
print self.gripper_node.read_register(0)
except Exception, error:
print error
def connect_to_nodes(self):
self.gripper_node = minimalmodbus.Instrument(self.port, int(self.gripper_node_id))
@@ -196,30 +202,6 @@ class EffectorsControl(object):
except:
self.science_node_present = False
def initialize_mining_system(self):
if self.mining_node_present:
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[
MINING_MODBUS_REGISTERS["LIFT_SET"]]) > MINING_POSITIONAL_THRESHOLD or \
abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[
MINING_MODBUS_REGISTERS["TILT_SET"]]) > MINING_POSITIONAL_THRESHOLD:
try:
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers = self.mining_node.read_registers(0, 7)
except Exception, e:
print "Had trouble communicating:", e
try:
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 1
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 0
except:
print "Had trouble communicating: no tare: ", e
def process_mining_control_message(self):
if self.new_mining_control_message and self.mining_node_present: