caperren/osurc_mars_rover_2017_2018
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Updated mining readouts for addition of science cam controls. Working science cam controls. Fixed missing soil probe transports.

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This commit is contained in:
Corwin Perren
2018-08-12 01:25:20 -07:00
parent 03cdd2e3a6
commit a4f04eda7e
8 changed files with 466 additions and 354 deletions
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1
software/ros_packages/rover_control/msg/CameraControlMessage.msg
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@@ -4,5 +4,4 @@ bool zoom_in
bool zoom_out
bool full_zoom_in
bool full_zoom_out
bool focus
bool shoot

20
software/ros_packages/rover_control/src/effectors_control/effectors_control.py
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@@ -101,12 +101,11 @@ MINING_MODBUS_REGISTERS = {
"ZOOM_OUT": 11,
"FULL_ZOOM_IN": 12,
"FULL_ZOOM_OUT": 13,
"FOCUS": 14,
"SHOOT": 15,
"SHOOT": 14,
"CURRENT_POSITION_LIFT": 16,
"CURRENT_POSITION_TILT": 17,
"MEASURED_WEIGHT": 18
"CURRENT_POSITION_LIFT": 15,
"CURRENT_POSITION_TILT": 16,
"MEASURED_WEIGHT": 17
}
@@ -300,12 +299,11 @@ class EffectorsControl(object):
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["CHANGE_VIEW_MODE"]] = self.camera_control_message.camera_mode
self.mining_registers[MINING_MODBUS_REGISTERS["ZOOM_IN"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["ZOOM_OUT"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["FULL_ZOOM_IN"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["FULL_ZOOM_OUT"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["FOCUS"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["SHOOT"]] = 0
self.mining_registers[MINING_MODBUS_REGISTERS["ZOOM_IN"]] = self.camera_control_message.zoom_in
self.mining_registers[MINING_MODBUS_REGISTERS["ZOOM_OUT"]] = self.camera_control_message.zoom_out
self.mining_registers[MINING_MODBUS_REGISTERS["FULL_ZOOM_IN"]] = self.camera_control_message.full_zoom_in
self.mining_registers[MINING_MODBUS_REGISTERS["FULL_ZOOM_OUT"]] = self.camera_control_message.full_zoom_out
self.mining_registers[MINING_MODBUS_REGISTERS["SHOOT"]] = self.camera_control_message.shoot
self.mining_node.write_registers(0, self.mining_registers)
self.modbus_nodes_seen_time = time()

10
software/ros_packages/rover_control/src/effectors_control/effectors_tester.py
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@@ -12,11 +12,17 @@ publisher = rospy.Publisher(TOPIC, CameraControlMessage, queue_size=1)
time.sleep(2)
message = CameraControlMessage()
message.camera_mode = 2
# message = CameraControlMessage()
# message.full_zoom_in = 1
# publisher.publish(message)
time.sleep(2)
message = CameraControlMessage()
message.shoot = 1
publisher.publish(message)
time.sleep(5)
# message = MiningControlMessage()

1
software/ros_packages/rover_control/src/effectors_control/emergency_scale.py
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@@ -49,7 +49,6 @@ class EmergencyScale(object):
message = Float64()
message.data = float(value)
self.publisher.publish(message)
print
except:
print "No data"