caperren/osurc_mars_rover_2017_2018
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Added boolean for iris controller connected. Updated iris node to set state.

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This commit is contained in:
Corwin Perren
2018-03-03 18:49:59 -08:00
parent 5336c754be
commit f7bb745e49
2 changed files with 7 additions and 2 deletions
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1
software/ros_packages/rover_control/msg/DriveCommandMessage.msg
View File

@@ -1,2 +1,3 @@
bool controller_present
bool ignore_drive_control bool ignore_drive_control
geometry_msgs/Twist drive_twist geometry_msgs/Twist drive_twist

6
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
View File

@@ -117,8 +117,10 @@ class IrisController(object):
sleep(max(self.wait_time - time_diff, 0)) sleep(max(self.wait_time - time_diff, 0))
def read_registers(self): def read_registers(self):
try:
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS)) self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
# print self.registers except Exception, error:
print error
def broadcast_drive_if_current_mode(self): def broadcast_drive_if_current_mode(self):
if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]: if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]:
@@ -128,6 +130,7 @@ class IrisController(object):
right_y_axis = self.registers[MODBUS_REGISTERS["RIGHT_STICK_Y_AXIS"]] right_y_axis = self.registers[MODBUS_REGISTERS["RIGHT_STICK_Y_AXIS"]]
if left_y_axis == 0 and right_y_axis == 0: if left_y_axis == 0 and right_y_axis == 0:
command.controller_present = False
command.ignore_drive_control = True command.ignore_drive_control = True
command.drive_twist.linear.x = 0 command.drive_twist.linear.x = 0
command.drive_twist.angular.z = 0 command.drive_twist.angular.z = 0
@@ -139,6 +142,7 @@ class IrisController(object):
right = (right_y_axis - SBUS_VALUES["SBUS_MID"]) / SBUS_VALUES[ right = (right_y_axis - SBUS_VALUES["SBUS_MID"]) / SBUS_VALUES[
"SBUS_RANGE"] "SBUS_RANGE"]
command.controller_present = True
command.ignore_drive_control = \ command.ignore_drive_control = \
self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["IGNORE_CONTROL"]]] > SBUS_VALUES["SBUS_MID"] 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.linear.x = (left + right) / 2.0