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Pan/tilt now working from ground station with working tower on rover. Need to integreate tower node on modbus bus for that node, but overall working.

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This commit is contained in:
Corwin Perren
2018-07-14 16:19:18 -07:00
parent 1110dce885
commit de93764849
6 changed files with 33 additions and 23 deletions
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4
software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
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@@ -14,8 +14,8 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyOdometry" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyTowerAndPanTilt"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyTowerAndPanTilt" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyOdometry"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"

32
software/firmware/tower_pan_tilt/tower_pan_tilt.ino
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@@ -38,12 +38,12 @@ bool communication_good = false;
uint8_t message_count = 0; uint8_t message_count = 0;
// Pan/tilt hard limits // Pan/tilt hard limits
const int pan_min = 1415; const int pan_min = 1470;
const int pan_center = 1538; const int pan_center = 1600;
const int pan_max = 1665; const int pan_max = 1725;
const int tilt_min = 0; const int tilt_min = 1020;
const int tilt_center = 1900; const int tilt_center = 1820;
const int tilt_max = 2400; const int tilt_max = 2400;
// Pan/tilt positions // Pan/tilt positions
@@ -57,6 +57,8 @@ Servo pan_servo;
Servo tilt_servo; Servo tilt_servo;
void setup() { void setup() {
// Serial.begin(9600);
// while(!Serial);
setup_hardware(); setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]); num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
@@ -82,8 +84,8 @@ void setup_hardware() {
pan_servo.attach(HARDWARE::SERVO_PAN); pan_servo.attach(HARDWARE::SERVO_PAN);
tilt_servo.attach(HARDWARE::SERVO_TILT); tilt_servo.attach(HARDWARE::SERVO_TILT);
pan_servo.write(pan_center); pan_servo.writeMicroseconds(pan_center);
tilt_servo.write(tilt_center); tilt_servo.writeMicroseconds(tilt_center);
pinMode(HARDWARE::LED_RED, OUTPUT); pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_GREEN, OUTPUT); pinMode(HARDWARE::LED_GREEN, OUTPUT);
@@ -124,8 +126,8 @@ void set_leds() {
void set_pan_tilt_adjustments() { void set_pan_tilt_adjustments() {
if (communication_good) { if (communication_good) {
if (modbus_data[MODBUS_REGISTERS::CENTER_ALL]) { if (modbus_data[MODBUS_REGISTERS::CENTER_ALL]) {
pan_servo.write(constrain(pan_position, pan_min, pan_max)); pan_servo.writeMicroseconds(constrain(pan_position, pan_min, pan_max));
tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max)); tilt_servo.writeMicroseconds(constrain(tilt_position, tilt_min, tilt_max));
pan_position = pan_center; pan_position = pan_center;
tilt_position = tilt_center; tilt_position = tilt_center;
@@ -133,11 +135,15 @@ void set_pan_tilt_adjustments() {
modbus_data[MODBUS_REGISTERS::CENTER_ALL] = 0; modbus_data[MODBUS_REGISTERS::CENTER_ALL] = 0;
} }
pan_position = pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE]; pan_position = constrain(pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE], pan_min, pan_max);
tilt_position = tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE]; tilt_position = constrain(tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE], tilt_min, tilt_max);
pan_servo.write(constrain(pan_position, pan_min, pan_max)); pan_servo.writeMicroseconds(pan_position);
tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max)); tilt_servo.writeMicroseconds(tilt_position);
// Serial.print(pan_position);
// Serial.print("\t");
// Serial.println(tilt_position);
modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] = 0; modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] = 0;
modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE] = 0; modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE] = 0;

5
software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
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@@ -16,7 +16,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro" GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive" DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_PAN_TILT_COMMAND_TOPIC = "/tower/control" DEFAULT_PAN_TILT_COMMAND_TOPIC = "/rover_control/pan_tilt/control"
DRIVE_COMMAND_HERTZ = 15 DRIVE_COMMAND_HERTZ = 15
@@ -31,9 +31,10 @@ CAMERA_CHANGE_TIME = 0.2
GUI_ELEMENT_CHANGE_TIME = 0.2 GUI_ELEMENT_CHANGE_TIME = 0.2
CAMERA_TOGGLE_CHANGE_TIME = 0.35 CAMERA_TOGGLE_CHANGE_TIME = 0.35
PAN_TILT_X_AXIS_SCALAR = 5 PAN_TILT_X_AXIS_SCALAR = 3
PAN_TILT_Y_AXIS_SCALAR = 10 PAN_TILT_Y_AXIS_SCALAR = 10
##################################### #####################################
# Controller Class Definition # Controller Class Definition
##################################### #####################################

8
software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
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@@ -16,16 +16,16 @@ from rover_control.msg import TowerPanTiltControlMessage
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
NODE_NAME = "drive_control" NODE_NAME = "pan_tilt_and_tower_control"
DEFAULT_PORT = "/dev/ttyUSB0" DEFAULT_PORT = "/dev/rover/ttyTowerAndPanTilt"
DEFAULT_BAUD = 115200 DEFAULT_BAUD = 115200
DEFAULT_INVERT = False DEFAULT_INVERT = False
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "tower/control" DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "pan_tilt/control"
NODE_ID = 1 NODE_ID = 2
COMMUNICATIONS_TIMEOUT = 0.01 # Seconds COMMUNICATIONS_TIMEOUT = 0.01 # Seconds

5
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
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@@ -6,7 +6,8 @@
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17100" /> <param name="destination_port" value="17100" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}] [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/pan_tilt/control", compress: true, rate: 15.0}]
</rosparam> </rosparam>
</node> </node>
@@ -18,7 +19,7 @@
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0}, {name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0}, {name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0}, {name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0}] {name: "/rover_status/update_requested", compress: false, rate: 5.0},]
</rosparam> </rosparam>
</node> </node>
</group> </group>

2
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -32,5 +32,7 @@
</node> </node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/> <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
<node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
</group> </group>
</launch> </launch>