/*!
* \brief
* エンゲージ（サーボモーターに電力を供給する）
*
* \param flag
* true : 電力供給開始
* false: 電力供給停止
*
* \remarks
* あまり長時間電力供給したままにしないこと．
*
*/
void Servo::Engage(bool flag)
{
if(flag){
//通電せよ
CPhidgetAdvancedServo_setEngaged(*servo, index, 1);
engaged = true;
}else{
//電流カットせよ
CPhidgetAdvancedServo_setEngaged(*servo, index, 0);
engaged = false;
}
}
void turnCallback( const servo_mast::mast_turn::ConstPtr& msg )
{
//change the motor position
//valid range is -23 to 232, but for most motors ~30-210
double pos = msg->position;
double acc = msg->acceleration;
double vel = msg->velocity;
bool engage = true;
if( (pos > 30.0) && (pos < 210.0) ) {
CPhidgetAdvancedServo_setPosition( servo, 0, pos );
}
else { engage = false; }
if( engage && (acc > minAcc) && (acc < maxAcc) ) {
CPhidgetAdvancedServo_setAcceleration( servo, 0, acc );
}
else { engage = false; }
if( engage && (vel > minVel) && (vel < maxVel) ) {
CPhidgetAdvancedServo_setVelocityLimit( servo, 0, vel );
}
else { engage = false; }
if( engage ) {
CPhidgetAdvancedServo_setEngaged( servo, 0, 1 );
}
}
Controller::~Controller()
{
CPhidget_close((CPhidgetHandle)motoControl);
CPhidget_delete((CPhidgetHandle)motoControl);
CPhidgetAdvancedServo_setEngaged(servo, 0, 0);
CPhidget_close((CPhidgetHandle)servo);
CPhidget_delete((CPhidgetHandle)servo);
}
void floatCallback( const std_msgs::Float64::ConstPtr& msg )
{
double pos;
pos = (double)msg->data;
serv_pos=pos;
printf( "Got %f \n", pos );;
if( (pos > -30.0) && (pos < 210.0) ) {
CPhidgetAdvancedServo_setPosition( servo, 0, pos );
CPhidgetAdvancedServo_setEngaged( servo, 0, 1 );
}
}
int teardown()
{
SetupLog("Closing...\n");
#ifndef NO_POWERLIB
power_button_reset();
#endif
CPhidgetAdvancedServo_setPosition(servo, 0, 120);
sleep(2);
// Close IFKIT
CPhidget_close((CPhidgetHandle)ifKit);
CPhidget_delete((CPhidgetHandle)ifKit);
// close motoControl
CPhidget_close((CPhidgetHandle)motoControl);
CPhidget_delete((CPhidgetHandle)motoControl);
// disengage and close servo
CPhidgetAdvancedServo_setEngaged(servo, 0, 0);
CPhidget_close((CPhidgetHandle)servo);
CPhidget_delete((CPhidgetHandle)servo);
//all done, exit
return 0;
}
int setup()
{
init_debugging();
int result, numSensors, i;
const char *err;
//handles *Handles;
//Declare an InterfaceKit handle
// Setup the IFKit
CPhidgetInterfaceKit_create(&ifKit);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, IKInputChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, IKSensorChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, IKOutputChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)ifKit, -1);
//get the program to wait for an interface kit device to be attached
SetupLog("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached interface kit device
IKDisplayProperties(ifKit);
// Setup motoControl
CPhidgetMotorControl_create(&motoControl);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)motoControl, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)motoControl, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)motoControl, ErrorHandler, NULL);
CPhidgetMotorControl_set_OnInputChange_Handler (motoControl, MCInputChangeHandler, NULL);
CPhidgetMotorControl_set_OnVelocityChange_Handler (motoControl, MCVelocityChangeHandler, NULL);
CPhidgetMotorControl_set_OnCurrentChange_Handler (motoControl, MCCurrentChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)motoControl, -1);
SetupLog("Waiting for MotorControl to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)motoControl, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
MCDisplayProperties(motoControl);
CPhidgetMotorControl_setAcceleration (motoControl, 0, 50.00);
CPhidgetMotorControl_setAcceleration (motoControl, 1, 50.00);
// Setup AdvancedServo
CPhidgetAdvancedServo_create(&servo);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)servo, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)servo, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)servo, ErrorHandler, NULL);
CPhidgetAdvancedServo_set_OnPositionChange_Handler(servo, ASPositionChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)servo, -1);
SetupLog("Waiting for Phidget to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)servo, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached device
ASDisplayProperties(servo);
CPhidgetAdvancedServo_setEngaged(servo, 0, 1);
state.ServoPosition = 0;
sensor.RightWhisker = 0;
sensor.LeftWhisker = 0;
sensor.FrontFacingIR = 0;
sensor.TopIR = 0;
state.AverageBaseLight = (float)10000;
sensor.TopLeftLight = 0;
sensor.TopRightLight = 0;
state.flashWasOn = 0;
state.wasOnBlackInLastIteration = 0;
sensor.SpinSensor = 10.0;
state.expectedMovement = None;
state.expectedFor = 0;
state.exitTrialCounter = 0;
state.stuckCounter = 0;
state.previousState = 2;
gettimeofday(&state.lastFlashSighted, NULL);
//#ifdef FREQUENCY
//state.frequency = FREQUENCY;
//#endif
#ifndef NO_POWERLIB
power_button_reset();
while(power_button_get_value()==0)
{
sleep(1);
}
#endif
return 0;
}
Controller::Controller()
: motoControl(0)
, speed(40)
, speedLeftFactor(1.5)
, speedRightFactor(1.5)
, accelLeftFactor(1.5)
, accelRightFactor(1.5)
, rotationOnSpotSpeed(100)
, accel(15)
, backwardTurnFastFactor(1.5)
, backwardTurnSlowFactor(-1.5)
, servo(0)
, servoOpen(35.00)
, servoClosed(150.00)
/*, speed(100)
, speedLeftFactor(1.0)
, speedRightFactor(1.0)
, accelLeftFactor(1.0)
, accelRightFactor(1.0)
, rotationOnSpotSpeed(40)
, accel(100)
, backwardTurnFastFactor(1)
, backwardTurnSlowFactor(-1)*/
{
//create the motor control object
CPhidgetMotorControl_create(&motoControl);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)motoControl, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)motoControl, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)motoControl, ErrorHandler, NULL);
ifKit = 0;
//create the InterfaceKit object
CPhidgetInterfaceKit_create(&ifKit);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, InputChangeHandler, NULL);
//open the interfacekit for device connections
CPhidget_open((CPhidgetHandle)ifKit, -1);
CPhidgetAdvancedServo_create(&servo);
CPhidget_open((CPhidgetHandle)servo, -1);
int result;
const char *err;
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000)))
{
CPhidget_getErrorDescription(result, &err);
}
//Registers a callback that will run if an input changes.
//Requires the handle for the Phidget, the function that will be called, and a arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetMotorControl_set_OnInputChange_Handler (motoControl, InputChangeHandler, NULL);
//Registers a callback that will run if a motor changes.
//Requires the handle for the Phidget, the function that will be called, and a arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetMotorControl_set_OnVelocityChange_Handler (motoControl, VelocityChangeHandler, NULL);
//Registers a callback that will run if the current draw changes.
//Requires the handle for the Phidget, the function that will be called, and a arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetMotorControl_set_OnCurrentChange_Handler (motoControl, CurrentChangeHandler, NULL);
//open the motor control for device connections
CPhidget_open((CPhidgetHandle)motoControl, -1);
//get the program to wait for a motor control device to be attached
CPhidget_waitForAttachment((CPhidgetHandle)motoControl, 10000);
CPhidgetAdvancedServo_setEngaged(servo, 0, 1);
CPhidgetAdvancedServo_setPosition (servo, 0, 40.00);
}
void shutdownStuff()
{
CPhidgetAdvancedServo_setEngaged( servo, 0, 0 );
CPhidget_close( (CPhidgetHandle)servo );
CPhidget_delete( (CPhidgetHandle)servo );
}
