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Wrote the base of rover_control. Currently drives rover using FrSky. Needs tuning.

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This commit is contained in:
Corwin Perren
2018-02-26 03:04:21 -08:00
parent 5837622d3c
commit f37337a976
90 changed files with 34328 additions and 49773 deletions
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201
software/rover/rover_control/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(rover_control)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
geometry_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
DriveCommandMessage.msg
DriveControlMessage.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs # Or other packages containing msgs
geometry_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES rover_control
# CATKIN_DEPENDS ros_msgs rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/rover_control.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/rover_control_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rover_control.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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software/rover/rover_control/launch/rover_control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_2_2"/>
</node>
<node name="control_coordinator" pkg="rover_control" type="control_coordinator.py" output="screen"/>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_0"/>
<param name="drive_control_topic" value="drive_control/rear"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_1"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/>
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_2"/>
<param name="drive_control_topic" value="drive_control/right"/>
</node>
</group>
</launch>

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software/rover/rover_control/msg/DriveCommandMessage.msg Normal file
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bool ignore_drive_control
geometry_msgs/Twist drive_twist

7
software/rover/rover_control/msg/DriveControlMessage.msg Normal file
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bool first_motor_direction
bool first_motor_sleep
uint16 first_motor_speed
bool second_motor_direction
bool second_motor_sleep
uint16 second_motor_speed

65
software/rover/rover_control/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>rover_control</name>
<version>0.0.0</version>
<description>The rover_control package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="caperren@todo.todo">caperren</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/rover_control</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>ros_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_export_depend>ros_msgs</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>ros_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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software/rover/rover_control/src/control_coordinator/control_coordinator.py Executable file
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#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
import rospy
from time import time, sleep
# Custom Imports
from rover_control.msg import DriveCommandMessage, DriveControlMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "control_coordinator"
DEFAULT_IRIS_DRIVE_COMMAND_TOPIC = "command_control/iris_drive"
DEFAULT_REAR_BOGIE_TOPIC = "drive_control/rear"
DEFAULT_LEFT_BOGIE_TOPIC = "drive_control/left"
DEFAULT_RIGHT_BOGIE_TOPIC = "drive_control/right"
UINT16_MAX = 65535
#####################################
# ControlCoordinator Class Definition
#####################################
class ControlCoordinator(object):
def __init__(self):
rospy.init_node(NODE_NAME)
self.iris_topic = rospy.get_param("~iris_drive_command_topic", DEFAULT_IRIS_DRIVE_COMMAND_TOPIC)
self.rear_bogie_topic = rospy.get_param("~rear_bogie_control_topic", DEFAULT_REAR_BOGIE_TOPIC)
self.left_bogie_topic = rospy.get_param("~left_bogie_control_topic", DEFAULT_LEFT_BOGIE_TOPIC)
self.right_bogie_topic = rospy.get_param("~right_bogie_control_topic", DEFAULT_RIGHT_BOGIE_TOPIC)
self.iris_drive_command_subscriber = \
rospy.Subscriber(self.iris_topic, DriveCommandMessage, self.iris_drive_command_callback)
self.rear_bogie_publisher = rospy.Publisher(self.rear_bogie_topic, DriveControlMessage, queue_size=1)
self.left_bogie_publisher = rospy.Publisher(self.left_bogie_topic, DriveControlMessage, queue_size=1)
self.right_bogie_publisher = rospy.Publisher(self.right_bogie_topic, DriveControlMessage, queue_size=1)
self.run()
def run(self):
while not rospy.is_shutdown():
sleep(0.25)
def iris_drive_command_callback(self, drive_command):
rear_drive = DriveControlMessage()
left_drive = DriveControlMessage()
right_drive = DriveControlMessage()
left = drive_command.drive_twist.linear.x - drive_command.drive_twist.angular.z
right = drive_command.drive_twist.linear.x + drive_command.drive_twist.angular.z
left_direction = 1 if left >= 0 else 0
rear_drive.first_motor_direction = left_direction
left_drive.first_motor_direction = left_direction
left_drive.second_motor_direction = left_direction
right_direction = 1 if right >= 0 else 0
rear_drive.second_motor_direction = right_direction
right_drive.first_motor_direction = right_direction
right_drive.second_motor_direction = right_direction
left_speed = abs(left * UINT16_MAX)
right_speed = abs(right * UINT16_MAX)
rear_drive.first_motor_speed = left_speed
left_drive.first_motor_speed = left_speed
left_drive.second_motor_speed = left_speed
rear_drive.second_motor_speed = right_speed
right_drive.first_motor_speed = right_speed
right_drive.second_motor_speed = right_speed
self.rear_bogie_publisher.publish(rear_drive)
self.left_bogie_publisher.publish(left_drive)
self.right_bogie_publisher.publish(right_drive)
if __name__ == "__main__":
ControlCoordinator()

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software/rover/rover_control/src/drive_control/drive_control.py Executable file
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#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
import rospy
from time import time, sleep
import serial.rs485
import minimalmodbus
# Custom Imports
from rover_control.msg import DriveControlMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "drive_control"
DEFAULT_PORT = "/dev/rover/ttyBogie"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
DEFAULT_DRIVE_CONTROL_TOPIC = "drive_control/rear"
FIRST_MOTOR_ID = 1
SECOND_MOTOR_ID = 2
COMMUNICATIONS_TIMEOUT = 0.15 # Seconds
RX_DELAY = 0.01
TX_DELAY = 0.01
MODBUS_REGISTERS = {
"DIRECTION": 0,
"SPEED": 1,
"SLEEP": 2,
"CURRENT": 3,
"FAULT": 4,
"TEMPERATURE": 5
}
MOTOR_DRIVER_DEFAULT_MESSAGE = [
1, # Forwards
0, # 0 Speed
1 # Not in sleep mode
]
#####################################
# DriveControl Class Definition
#####################################
class DriveControl(object):
def __init__(self):
rospy.init_node(NODE_NAME)
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
self.first_motor_inverted = rospy.get_param("~invert_first_motor", DEFAULT_INVERT)
self.second_motor_inverted = rospy.get_param("~invert_second_motor", DEFAULT_INVERT)
self.drive_control_subscriber_topic = rospy.get_param("~drive_control_topic", DEFAULT_DRIVE_CONTROL_TOPIC)
self.first_motor = minimalmodbus.Instrument(self.port, FIRST_MOTOR_ID)
self.second_motor = minimalmodbus.Instrument(self.port, SECOND_MOTOR_ID)
self.__setup_minimalmodbus_for_485()
self.drive_control_subscriber = \
rospy.Subscriber(self.drive_control_subscriber_topic, DriveControlMessage, self.drive_control_callback)
self.run()
def __setup_minimalmodbus_for_485(self):
self.first_motor.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
self.first_motor.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)
self.second_motor.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
self.second_motor.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):
while not rospy.is_shutdown():
sleep(0.25)
def drive_control_callback(self, drive_control):
try:
first_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
first_direction = \
not drive_control.first_motor_direction if self.first_motor_inverted else drive_control.first_motor_direction
first_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = first_direction
first_motor_register_data[MODBUS_REGISTERS["SPEED"]] = drive_control.first_motor_speed
second_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
second_direction = not drive_control.second_motor_direction if self.second_motor_inverted else drive_control.second_motor_direction
second_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = second_direction
second_motor_register_data[MODBUS_REGISTERS["SPEED"]] = drive_control.second_motor_speed
self.first_motor.write_registers(0, first_motor_register_data)
self.second_motor.write_registers(0, second_motor_register_data)
except Exception, error:
print "Error occurred:", error
if __name__ == "__main__":
DriveControl()

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software/rover/rover_control/src/iris_controller/iris_controller.py Executable file
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#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
import rospy
from time import time, sleep
import serial.rs485
import minimalmodbus
# Custom Imports
from rover_control.msg import DriveCommandMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "iris_controller"
DEFAULT_PORT = "/dev/rover/ttyIRIS"
DEFAULT_BAUD = 115200
DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/iris_drive"
DEFAULT_HERTZ = 10
COMMUNICATIONS_TIMEOUT = 0.15 # Seconds
MODBUS_ID = 1
RX_DELAY = 0.01
TX_DELAY = 0.01
SBUS_VALUES = {
"SBUS_MAX": 1811,
"SBUS_MID": 991,
"SBUS_MIN": 172,
"SBUS_RANGE": 820.0,
"SBUS_DEADZONE": 5
}
MODBUS_REGISTERS = {
"LEFT_STICK_Y_AXIS": 0,
"RIGHT_STICK_Y_AXIS": 1,
"RIGHT_STICK_X_AXIS": 2,
"LEFT_STICK_X_AXIS": 3,
"LEFT_POT": 4,
"S1_POT": 5,
"S2_POT": 6,
"RIGHT_POT": 7,
"SA_SWITCH": 8,
"SB_SWITCH": 9,
"SC_SWITCH": 10,
"SD_SWITCH": 11,
"SE_SWITCH": 12,
"SF_SWITCH": 13,
"SG_SWITCH": 14,
"SH_SWITCH": 15,
"VOLTAGE_24V": 16,
"VOLTAGE_5V": 17,
"USB_VOLTAGE_5V": 18,
"VOLTAGE_3V3": 19
}
REGISTER_STATE_MAPPING = {
"IGNORE_CONTROL": "SF_SWITCH",
"DRIVE_VS_ARM": "SE_SWITCH"
}
#####################################
# IrisController Class Definition
#####################################
class IrisController(object):
def __init__(self):
rospy.init_node(NODE_NAME)
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
self.drive_command_publisher_topic = rospy.get_param("~drive_command_topic", DEFAULT_DRIVE_COMMAND_TOPIC)
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
self.iris = minimalmodbus.Instrument(self.port, MODBUS_ID)
self.__setup_minimalmodbus_for_485()
self.drive_command_publisher = rospy.Publisher(self.drive_command_publisher_topic, DriveCommandMessage,
queue_size=1)
self.registers = []
self.run()
def __setup_minimalmodbus_for_485(self):
self.iris.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
self.iris.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):
while not rospy.is_shutdown():
start_time = time()
try:
self.read_registers()
self.broadcast_drive_if_current_mode()
self.broadcast_arm_if_current_mode()
except Exception, error:
print "Error occurred:", error
time_diff = time() - start_time
sleep(max(self.wait_time - time_diff, 0))
def read_registers(self):
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
def broadcast_drive_if_current_mode(self):
if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]:
command = DriveCommandMessage()
left_y_axis = self.registers[MODBUS_REGISTERS["LEFT_STICK_Y_AXIS"]]
right_y_axis = self.registers[MODBUS_REGISTERS["RIGHT_STICK_Y_AXIS"]]
if left_y_axis == 0 and right_y_axis == 0:
command.ignore_drive_control = True
command.drive_twist.linear.x = 0
command.drive_twist.angular.z = 0
else:
left = (left_y_axis - SBUS_VALUES["SBUS_MID"]) / SBUS_VALUES[
"SBUS_RANGE"]
right = (right_y_axis - SBUS_VALUES["SBUS_MID"]) / SBUS_VALUES[
"SBUS_RANGE"]
command.ignore_drive_control = \
self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["IGNORE_CONTROL"]]] > SBUS_VALUES["SBUS_MID"]
command.drive_twist.linear.x = (left + right) / 2.0
command.drive_twist.angular.z = (right - left) / 2.0
self.drive_command_publisher.publish(command)
def broadcast_arm_if_current_mode(self):
if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] > \
SBUS_VALUES["SBUS_MIN"] + SBUS_VALUES["SBUS_DEADZONE"]:
print "Arm"
if __name__ == "__main__":
IrisController()