Added IONI configs and mining firmware

software/testing/modbus/mining/mining_tester.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+#####################################
+# Imports
+#####################################
+# Python native imports
+
+from time import time, sleep
+
+import serial.rs485
+import minimalmodbus
+
+# from std_msgs.msg import UInt8, UInt16
+
+# Custom Imports
+# from rover_control.msg import TowerPanTiltControlMessage
+
+#####################################
+# Global Variables
+#####################################
+NODE_NAME = "chassis_pan_tilt_control"
+
+DEFAULT_PORT = "/dev/rover/ttyChassisPanTilt"
+DEFAULT_BAUD = 115200
+
+DEFAULT_INVERT = False
+
+DEFAULT_PAN_TILT_CONTROL_TOPIC = "chassis/pan_tilt/control"
+
+PAN_TILT_NODE_ID = 1
+
+COMMUNICATIONS_TIMEOUT = 0.01  # Seconds
+
+RX_DELAY = 0.01
+TX_DELAY = 0.01
+
+DEFAULT_HERTZ = 20
+
+PAN_TILT_MODBUS_REGISTERS = {
+    "CENTER_ALL": 0,
+
+    "PAN_ADJUST_POSITIVE": 1,
+    "PAN_ADJUST_NEGATIVE": 2,
+    "TILT_ADJUST_POSITIVE": 3,
+    "TILT_ADJUST_NEGATIVE": 4
+}
+
+PAN_TILT_CONTROL_DEFAULT_MESSAGE = [
+    0,  # No centering
+    0,  # No pan positive adjustment
+    0,  # No pan negative adjustment
+    0,  # No tilt positive adjustment
+    0  # No tilt negative adjustement
+]
+
+self.mining_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
+self.mining_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
+                                                                delay_before_rx=RX_DELAY,
+                                                                delay_before_tx=TX_DELAY)
+
+
+def run(self):
+    print(self.mining_node.read_registers(0, 7))
+
+
+def connect_to_pan_tilt_and_tower(self):
+    self.mining_node = minimalmodbus.Instrument(self.port, int(2))
+    self.__setup_minimalmodbus_for_485()
+
+
+NODE_LAST_SEEN_TIMEOUT = 2  # seconds
+
+
+#####################################
+# DriveControl Class Definition
+#####################################
+class MiningControl(object):
+    def __init__(self):
+        self.port = "COM22"
+        self.baud = 115200
+
+        self.mining_node = None
+        self.tower_node = None
+
+        self.connect_to_pan_tilt_and_tower()
+
+        self.pan_tilt_control_message = None
+        self.new_pan_tilt_control_message = False
+
+        self.modbus_nodes_seen_time = time()
+
+        self.run()
+
+    def __setup_minimalmodbus_for_485(self):
+if __name__ == "__main__":
+    MiningControl()