caperren/osurc_mars_rover_2017_2018
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Started working on mapping waypoints and thinking about zoom/pan. Added watchdog for odometry. Fixed watchdog for IRIS. Changed voltage warning for rover, was too low. Added neat loading image for mapping on launch.

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This commit is contained in:
Corwin Perren
2018-07-21 20:45:59 -07:00
parent 8c78d5729f
commit 71cff19b77
10 changed files with 111 additions and 90 deletions
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3
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
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@@ -118,11 +118,9 @@ class IrisController(object):
self.broadcast_drive_if_current_mode()
self.broadcast_arm_if_current_mode()
self.broadcast_iris_status()
self.iris_last_seen_time = time()
except Exception, error:
print "IRIS: Error occurred:", error
return
if (time() - self.iris_last_seen_time) > IRIS_LAST_SEEN_TIMEOUT:
print "Iris not seen for", IRIS_LAST_SEEN_TIMEOUT, "seconds. Exiting."
@@ -135,6 +133,7 @@ class IrisController(object):
def read_registers(self):
try:
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
self.iris_last_seen_time = time()
except Exception, error:
self.iris_connected = False