/** @brief Function that will use use the sonar to later acquire their value */ int sendSonarResult() { CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1); // sleep for 2ms ros::Duration(0.002).sleep(); CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); }
int main(int argc, char* argv[]) { // Set up a SIGINT handler. signal(SIGINT, catch_sigint); // Create the InterfaceKit object. CPhidgetInterfaceKitHandle ifKit = 0; CPhidgetInterfaceKit_create(&ifKit); // Register device handlers. CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, attach_handler, NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, detach_handler, NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, error_handler, NULL); // Open the interfacekit for device connections. CPhidget_open((CPhidgetHandle)ifKit, -1); // Wait for a device attachment. fprintf(stderr, "waiting for interface kit to be attached....\n"); int result; const char *err; if ((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000))) { CPhidget_getErrorDescription(result, &err); fprintf(stderr, "problem waiting for attachment: %s\n", err); return 0; } // Check some properties of the device. const char *device_type; int num_outputs; CPhidget_getDeviceType((CPhidgetHandle)ifKit, &device_type); CPhidgetInterfaceKit_getOutputCount(ifKit, &num_outputs); if ((strcmp(device_type, "PhidgetInterfaceKit") != 0)) { fprintf(stderr, "unexpected device type: %s\n", device_type); return 1; } if (num_outputs != 4) { fprintf(stderr, "unexpected number of device outputs: %d\n", num_outputs); return 1; } while (1) { double time = get_time_in_seconds(); double factor = 1; int l0_state = fmod(time * factor, 20) < 10; int l1_state = fmod(time * factor, 20) >= 10; CPhidgetInterfaceKit_setOutputState(ifKit, 0, l0_state); CPhidgetInterfaceKit_setOutputState(ifKit, 2, l1_state); usleep(100000); } fprintf(stderr, "shutting down...\n"); CPhidget_close((CPhidgetHandle)ifKit); CPhidget_delete((CPhidgetHandle)ifKit); return 0; }
//-------------BUZZER--------------- int Buzzer(int in) /*-------------------- mise en route ou arret des buzzer par 1 ou 0 dans in --------------------*/ { if(in==1)CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 1); else CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 0); return 0; }
int main(int argc, char* argv[]) { int result, numOutputs = 3, state = 0; const char *err, *ptr; CPhidgetInterfaceKitHandle phid = 0; LocalErrorCatcher(CPhidgetInterfaceKit_create(&phid)); LocalErrorCatcher(CPhidget_set_OnAttach_Handler((CPhidgetHandle) phid, AttachHandler, NULL)); LocalErrorCatcher(CPhidget_set_OnDetach_Handler((CPhidgetHandle) phid, DetachHandler, NULL)); LocalErrorCatcher(CPhidget_set_OnError_Handler((CPhidgetHandle) phid, ErrorHandler, NULL)); // printf("Phidget Simple Playground (plug and unplug devices)\n"); // printf("Opening...\n"); LocalErrorCatcher(CPhidget_open((CPhidgetHandle) phid, -1)); LocalErrorCatcher(CPhidget_waitForAttachment((CPhidgetHandle) phid, 100000)); CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr); CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs); // printf("%s\n", ptr); printf("Turning power on\n"); CPhidgetInterfaceKit_setOutputState(phid, 0, 1); printf("done\n"); LocalErrorCatcher(CPhidget_close((CPhidgetHandle) phid)); LocalErrorCatcher(CPhidget_delete((CPhidgetHandle) phid)); return 0; }
int Create_KIT1() /*----------------- creation du handler pour le kit interface 1 ------------------*/ { int err; const char *errStr; CPhidgetInterfaceKit_create(&IFK); CPhidgetInterfaceKit_set_OnInputChange_Handler(IFK, IFK_InputChangeHandler, NULL); CPhidget_set_OnAttach_Handler((CPhidgetHandle)IFK, IFK_AttachHandler, NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)IFK, IFK_DetachHandler, NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)IFK, IFK_ErrorHandler, NULL); CPhidgetInterfaceKit_set_OnSensorChange_Handler(IFK,IFK_SensorChangeHandler, NULL); //ouverture du kit interface CPhidget_open((CPhidgetHandle)IFK,kit_number); //wait 5 seconds for attachment if((err = CPhidget_waitForAttachment((CPhidgetHandle)IFK, 5000)) != EPHIDGET_OK) { CPhidget_getErrorDescription(err, &errStr); printf("Error waiting for attachment IFK1: (%d): %s\n",err,errStr); return 0; } //pour faire marcher les boutons stop et inhibit CPhidgetInterfaceKit_setOutputState(IFK,true_inhibit_number, 1); return 1; }
VALUE interfacekit_output_set(VALUE self, VALUE index, VALUE is_on) { PhidgetInfo *info = device_info(self); InterfaceKitInfo *ifkit_info = info->type_info; if (TYPE(index) != T_FIXNUM) rb_raise(rb_eTypeError, MSG_OUTPUT_INDEX_MUST_BE_FIXNUM); int index_int = FIX2INT(index); if ((ifkit_info->digital_output_count == 0) || (index_int > (ifkit_info->digital_output_count-1))) rb_raise(rb_eTypeError, MSG_OUTPUT_INDEX_TOO_HIGH); int phidget_bool; if (TYPE(is_on) == T_TRUE) phidget_bool = PTRUE; else if (TYPE(is_on) == T_FALSE) phidget_bool = PFALSE; else rb_raise(rb_eTypeError, MSG_OUTPUT_VALUE_MUST_BE_BOOL); ensure(CPhidgetInterfaceKit_setOutputState( (CPhidgetInterfaceKitHandle)info->handle, index_int, phidget_bool)); ifkit_info->digital_output_states[index_int] = phidget_bool; return is_on; }
int Stop_Colonne_24V() { int GREEN,YELLOW,RED; if(port_24V_number==-1) { printf("24V port has not been initialized\n"); return -1; } status_24V=-1; GREEN=colonne_lumineuse[2]; YELLOW=colonne_lumineuse[3]; RED=colonne_lumineuse[4]; CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,0); CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,0); CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,0); CPhidgetInterfaceKit_setOutputState(IFK2,RED,0); return 1; }
/** @brief Function that will manage the sonars and acquire their data * this function is called every around 50ms */ int sendSonarResult() { corobot_msgs::RangeSensor data; data.type = data.ULTRASOUND; data.numberSensors = lastSonarInput + 1 - firstSonarInput; CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1); ros::Duration(0.002).sleep(); // sleep for 2ms CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); //Acquire the data and transform them into values in meters for(int i = firstSonarInput; i<= lastSonarInput;i++) { data.range.push_back(sonarVoltageToMeters(analog_inputs_value[i])); } sonar_pub.publish(data); return 0; }
void setState(bool state) { if (state != mState) { mState = state; if (mIfk && mType == QPDigitalIO::Output) { CPhidgetInterfaceKit_setOutputState(mIfk, mIndex, state); } emit self->stateChanged(state); } }
//----------BOUTON STOP ET INHIBIT--------- int Init_Bouton_Stop() /*------------- Initialisation pour utiliser les boutons -------------*/ { if(true_inhibit_number==-1)return -1; CPhidgetInterfaceKit_setOutputState(IFK,true_inhibit_number, 1); return 1; }
void WidgetsInterfaceKit::OnWtOutputStateChanged(Wt::WCheckBox* checkbox) { int i; for (i=0; i<m_output_checkbox_array_length; i++) { if (checkbox == m_output_checkbox_array[i]) { bool check = checkbox->isChecked(); CPhidgetInterfaceKit_setOutputState(m_phidget->GetNativeHandle(), i, check ? PTRUE : PFALSE); ::GetApplicationManager()->OnWtDigitalOutputChanged(GetApplication(), GetSerial(), i, check); break; } } }
int Set_Colonne_Lumineuse_GYR(int green1,int yellow1,int red1) /*----------------- allumage et extinction de la colonne lumineuse (1=allumage,0=extinction) Doit etre precede par Init_Colonne_24V() ----------------*/ { int GREEN,YELLOW,RED; int green,yellow,red; if(status_24V!=1) { printf("Cannot use light column as 24V is not on\n"); return -1; } if(red1!=0)red=1; else red=0; if(green1!=0)green=1; else green=0; if(yellow1!=0)yellow=1; else yellow=0; GREEN=colonne_lumineuse[2]; YELLOW=colonne_lumineuse[3]; RED=colonne_lumineuse[4]; CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,green); CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,yellow); CPhidgetInterfaceKit_setOutputState(IFK2,RED,red); return 1; }
//---COLONNE LUMINEUSE--------------- int Init_Colonne_24V() { int i,k1; if(port_24V_number==-1) { printf("24V port has not been initialized\n"); return -1; } CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,1); sleep(1); //verification que le output est bien passe a 1. Parfois il est necessaire //de faire plusieurs passage 0-1 pour s'en assurer CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1); if(k1==0) { for(i=0;i<4;i++) { CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,0); sleep(1); CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,1); sleep(1); CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1); if(k1==1)break; } if(i==4) { printf("Cannot initiate 24V for light column\n"); status_24V=-1; return -1; } } status_24V=1; return 1; }
/*! * \brief set digital output state or sensor trigger level * \param req requested parameters * \param res returned parameters */ bool set_values( phidgets::interface_kit::Request &req, phidgets::interface_kit::Response &res) { switch(req.value_type) { case 1: { // set digital output CPhidgetInterfaceKit_setOutputState (phid, req.index, req.value); ROS_INFO("Output %d State %d", req.index, req.value); break; } case 2: { // set sensor trigger level CPhidgetInterfaceKit_setSensorChangeTrigger(phid, req.index, req.value); ROS_INFO("Sensor %d Trigger level %d", req.index, req.value); break; } } res.ack = 1; return(true); }
int interfacekit_simple() { int result, num_analog_inputs, num_digital_inputs; const char *err; //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_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL); CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, InputChangeHandler, NULL); CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, SensorChangeHandler, NULL); CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, OutputChangeHandler, NULL); //For phidget spatial //CPhidgetSpatialHandle spatial = 0; CPhidgetSpatial_create(&spatial); CPhidget_set_OnAttach_Handler((CPhidgetHandle)spatial, AttachHandler, NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)spatial, DetachHandler, NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)spatial, ErrorHandler, NULL); CPhidgetSpatial_set_OnSpatialData_Handler(spatial, SpatialDataHandler, NULL); //open the interfacekit for device connections CPhidget_open((CPhidgetHandle)ifKit, -1); CPhidget_open((CPhidgetHandle)spatial, -1); CPhidgetInterfaceKit_getInputCount(ifKit, &num_digital_inputs); CPhidgetInterfaceKit_getSensorCount(ifKit, &num_analog_inputs); printf("Waiting for spatial to be attached.... \n"); if((result = CPhidget_waitForAttachment((CPhidgetHandle)spatial, 1000))) { CPhidget_getErrorDescription(result, &err); ROS_ERROR("Phidget Spatial: Problem waiting for attachment: %s\n", err); spatialError = 1; } printf("Waiting for interface kit to be attached...."); if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 1000))) { CPhidget_getErrorDescription(result, &err); ROS_ERROR("Phidget IK: Problem waiting for attachment: %s\n", err); phidget888_connected = false; interfaceKitError = 1; } phidget888_connected = true; CPhidgetInterfaceKit_setRatiometric(ifKit, 0);// CPhidgetSpatial_setDataRate(spatial, 16); CPhidgetEncoder_create(&m_leftEncoder); CPhidget_set_OnAttach_Handler((CPhidgetHandle) m_leftEncoder,LeftEncoderAttach, NULL); CPhidget_open((CPhidgetHandle) m_leftEncoder, -1); if (m_encoder1Seen && m_encoder2Seen) phidget_encoder_connected = true; else phidget_encoder_connected = false; //Initialize the sonars, if any are present if(sonarsPresent) { CPhidgetInterfaceKit_setOutputState(ifKit, bwOutput, 1); CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); ros::Duration(0.250).sleep(); // sleep for 250ms CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1); ros::Duration(0.002).sleep(); // sleep for 2ms CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); ros::Duration(0.150).sleep(); // sleep for 150ms } return 0; }
int test_interfacekit() { int i,j,kit,k1,k2,macX,macY,macZ,ierr,result; int speed_percent[2],light_value,GREEN,RED,YELLOW; double accX,accY,accZ,acc_calX,acc_calY,acc_calZ; double tiltX,tiltY,tilt_calX,tilt_calY; double amean[3]; const char *err_str; //creation du handler pour le kit interface 1 puis //ouverture du kit interface printf("Attaching Interface kit 1\n"); if(Create_KIT1()!=1)goto exit; printf("Interface kit is attached\n"); printf("Do you want to attach other kit ?\n"); printf("Kit 2 1\n"); printf("Kit 3 2\n"); printf("Kit LCD 3\n"); printf("All kits 10\n"); scanf("%d",&kit); if(kit==1 ||kit==10) { printf("Attaching Interface kit 2\n"); if(Create_KIT2()!=1)goto exit; printf("Interface kit 2 is attached\n"); } if(kit==2 ||kit==10) { printf("Attaching Interface kit 3\n"); if(Create_KIT3()!=1)goto exit; printf("Interface kit 3 is attached\n"); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_rear_left, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_rear_right, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_front_left, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_front_right, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_2, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_4, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_8, 1); CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_10, 1); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_rear_left, 1); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_rear_right, 1); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_front_left, 0); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_front_right, 0); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_side_2, 0); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_side_4, 0); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_side_8, 0); CPhidgetInterfaceKit_setSensorChangeTrigger( (CPhidgetInterfaceKitHandle)IFK3, sensor_side_10, 0); } if(kit==3|| kit==10) { printf("Attaching Text LCD \n"); if(Create_Text_LCD()!=1)goto exit; printf("Text LCD attached\n"); printf("Attaching LCD kit\n"); if(Create_KITLCD()!=1)goto exit; printf("LCD kit attached\n"); } //creation du handler pour la carte de controle des embrayages if(embrayage_number!=-1) { CPhidgetMotorControl_create(&EmbrayageControl); CPhidget_open((CPhidgetHandle)EmbrayageControl,embrayage_number); } if(encoder1_number!=-1) { CPhidgetEncoder_create(&ENCODER1); CPhidgetEncoder_set_OnPositionChange_Handler (ENCODER1, ENCODER1_PositionChangeHandler , NULL); CPhidget_open((CPhidgetHandle)ENCODER1,encoder1_number); } if(encoder2_number!=-1) { CPhidgetEncoder_create(&ENCODER2); CPhidgetEncoder_set_OnPositionChange_Handler (ENCODER2, ENCODER2_PositionChangeHandler , NULL); CPhidget_open((CPhidgetHandle)ENCODER2,encoder2_number); } if(motorcontrol_number!=-1) { CPhidgetMotorControl_create(&motorControl); CPhidget_open((CPhidgetHandle)motorControl,motorcontrol_number); } if(ir_receiver1!=-1) { CPhidgetIR_create(&ir1); CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir1, AttachHandlerIR,NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir1, DetachHandlerIR,NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)ir1, ErrorHandlerIR,NULL); CPhidgetIR_set_OnCode_Handler(ir1, CodeHandler, NULL); CPhidget_open((CPhidgetHandle)ir1, ir_receiver1); printf("Waiting for PhidgetIR to be attached.... \n"); if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir1, 10000))) { CPhidget_getErrorDescription(result, &err_str); printf("Problem waiting for attachment IR1: %s\n", err_str); return 0; } } if(ir_receiver2!=-1) { CPhidgetIR_create(&ir2); CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir2, AttachHandlerIR,NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir2, DetachHandlerIR,NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)ir2, ErrorHandlerIR,NULL); CPhidgetIR_set_OnCode_Handler(ir2, CodeHandler, NULL); CPhidget_open((CPhidgetHandle)ir2, ir_receiver2); printf("Waiting for PhidgetIR to be attached.... \n"); if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir2, 10000))) { CPhidget_getErrorDescription(result, &err_str); printf("Problem waiting for attachment IR2: %s\n", err_str); return 0; } } if(ir_receiver3!=-1) { CPhidgetIR_create(&ir3); CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir3, AttachHandlerIR,NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir3, DetachHandlerIR,NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)ir3, ErrorHandlerIR,NULL); CPhidgetIR_set_OnCode_Handler(ir3, CodeHandler, NULL); CPhidget_open((CPhidgetHandle)ir3, ir_receiver3); printf("Waiting for PhidgetIR to be attached.... \n"); if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir3, 10000))) { CPhidget_getErrorDescription(result, &err_str); printf("Problem waiting for attachment IR3: %s\n", err_str); return 0; } } while(1) { printf("exit: 0\n"); printf("Embrayage: 1\n"); printf("Buzzer,stop,inhibit 2\n"); printf("Encoder: 3\n"); printf("Moteur: 4\n"); printf("Capteur distance: 5\n"); printf("Capteur de contact: 6\n"); printf("Capteur de lumiere: 7\n"); printf("Capteur de force poignet:8\n"); printf("Radiocommande: 9\n"); printf("Colonne lumineuse: 10\n"); printf("Joystick: 11\n"); printf("etat batterie,LCD 12\n"); printf("accelerometre 13\n"); printf("recepteur IR 14\n"); scanf("%d",&i); if(i==0)goto exit; //embrayage if(i==1) { j=-1; while(j!=0) { printf("clutch motor 1: 1\n"); printf("clutch motor 2: 2\n"); printf("unclutch motor 1: 3\n"); printf("unclutch motor 2: 4\n"); printf("clutch motor 1 and 2: 5\n"); printf("unclutch motor 1 and 2:6\n"); printf("exit :0\n"); scanf("%d",&j); if(j==0)continue; if(j==1) { printf("%% de clutch entre 0 et 100 \n"); scanf("%d",&k1); CPhidgetMotorControl_setVelocity (EmbrayageControl, 0,k1); } if(j==3) { CPhidgetMotorControl_setVelocity (EmbrayageControl, 0,0); } if(j==2) { printf("%% de clutch entre 0 et 100 \n"); scanf("%d",&k1); CPhidgetMotorControl_setVelocity (EmbrayageControl,1,k1); } if(j==4) { CPhidgetMotorControl_setVelocity (EmbrayageControl, 1,0); } if(j==5) { printf("%% de clutch entre 0 et 100 pour embrayage 1 et 2\n"); scanf("%d",&k1); scanf("%d",&k2); CPhidgetMotorControl_setVelocity (EmbrayageControl,0,k1); CPhidgetMotorControl_setVelocity (EmbrayageControl,0,k2); } if(j==6) { Embraye_Debraye(0); } } } //buzzer, stop, inhibit if(i==2) { j=-1; while(j!=0) { printf("exit :0\n"); printf("run buzzer: 1\n"); printf("stop buzzer: 2\n"); printf("etat bouton stop: 3\n"); printf("etat bouton inhibit: 4\n"); scanf("%d",&j); if(j==0){Mesure_Stop=-1;continue;} if(j==1) CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 1); if(j==2) CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 0); if(j==3) { CPhidgetInterfaceKit_getInputState(IFK,inhibit2_number,&k1); printf("Bouton stop: %d\n",k1); Mesure_Stop=1; } if(j==4) { CPhidgetInterfaceKit_getInputState(IFK,inhibit1_number,&k1); printf("Bouton inhibit: %d\n",k1); Mesure_Stop=1; } } } //codeur if(i==3) { j=-1; while(j!=0) { printf("exit 0\n"); printf("get encoder 1: 1\n"); printf("get encoder 2: 2\n"); printf("get encoder 1,2: 3\n"); scanf("%d",&j); if(j==0)continue; if(j==1) { wheelPos[0]=8*atan2(1.,1.)*10*encoderPos[0]/ (encoder1_reduction*encoder1_pulse_perturn); printf("position encoder 1: %d roue:%f\n",encoderPos[0], wheelPos[0]); } if(j==2) { wheelPos[1]=8*atan2(1.,1.)*10*encoderPos[1]/ (encoder2_reduction*encoder2_pulse_perturn); printf("position encoder 2: %d roue:%f\n",encoderPos[1], wheelPos[1]); } if(j==3) { wheelPos[0]=8*atan2(1.,1.)*10*encoderPos[0]/ (encoder1_reduction*encoder1_pulse_perturn); wheelPos[1]=8*atan2(1.,1.)*10*encoderPos[1]/ (encoder2_reduction*encoder2_pulse_perturn); printf("position encoder 1: %d roue:%f\n",encoderPos[0], wheelPos[0]); printf("position encoder 2: %d roue:%f\n",encoderPos[1], wheelPos[1]); } } } //moteur if(i==4) { j=-1; while(j!=0) { printf("exit 0\n"); printf("control motor 1: 1\n"); printf("control motor 2: 2\n"); printf("control motor 1,2: 3\n"); scanf("%d",&j); if(j==0)continue; if(j==1) { CPhidgetMotorControl_setAcceleration (motorControl, 0, 50.00); speed_percent[0]=-1; while(speed_percent[0]<0 || speed_percent[0]>100) { printf("vitesse en %%, entier ?\n"); scanf("%d",&speed_percent[0]); if(speed_percent[0]<0 || speed_percent[0]>100) { printf("incorrect speed\n"); continue; } } CPhidgetMotorControl_setVelocity (motorControl, 0, speed_percent[0]); } if(j==2) { CPhidgetMotorControl_setAcceleration (motorControl, 1, 50.00); speed_percent[1]=-1; while(speed_percent[1]<0 || speed_percent[1]>100) { printf("vitesse en %%, entier ?\n"); scanf("%d",&speed_percent[1]); if(speed_percent[1]<0 || speed_percent[1]>100) { printf("incorrect speed\n"); continue; } } CPhidgetMotorControl_setVelocity (motorControl, 1, speed_percent[1]); } if(j==3) { CPhidgetMotorControl_setAcceleration (motorControl, 0, 50.00); CPhidgetMotorControl_setAcceleration (motorControl, 1, 50.00); speed_percent[0]=-1; while(speed_percent[0]<0 || speed_percent[0]>100) { printf("vitesse 1 en %%, entier ?\n"); scanf("%d",&speed_percent[0]); if(speed_percent[0]<0 || speed_percent[0]>100) { printf("incorrect speed\n"); continue; } } speed_percent[1]=-1; while(speed_percent[1]<0 || speed_percent[1]>100) { printf("vitesse 2 en %%, entier ?\n"); scanf("%d",&speed_percent[1]); if(speed_percent[1]<0 || speed_percent[1]>100) { printf("incorrect speed\n"); continue; } } CPhidgetMotorControl_setVelocity (motorControl, 0, speed_percent[0]); CPhidgetMotorControl_setVelocity (motorControl, 1, speed_percent[1]); } } } //capteur de distance if(i==5) { j=-1; while(j!=0) { remesure: for(k1=0;k1<10;k1++) { amin[k1]=10000.; amax[k1]=-10000.; } for(k1=0;k1<2;k1++) { amin_IR[k1]=10000.; amax_IR[k1]=-10000.; } printf("exit 0\n"); printf("IR 1\n"); printf("US 2\n"); printf("Tous 3\n"); printf("duree mesure (defaut:%d s) 4\n",Time_Mesure); printf("IR rear left 10\n"); printf("IR rear right 11\n"); printf("US front right 12\n"); printf("US front left 13\n"); printf("US side right front 14\n"); printf("US side right rear 15\n"); printf("US side left rear 16\n"); printf("US side left front 17\n"); printf("IR up left 20\n"); printf("IR up left 21\n"); scanf("%d",&j); if(j==0){Mesure_Capteur=-1;continue;} if(j==1){Mesure_Capteur=0;sleep(Time_Mesure);Mesure_Capteur=-1;} if(j==2){Mesure_Capteur=1;sleep(Time_Mesure);Mesure_Capteur=-1;} if(j==3){Mesure_Capteur=2;sleep(Time_Mesure);Mesure_Capteur=-1;} if(j>=10){Mesure_Capteur=j;sleep(Time_Mesure);Mesure_Capteur=-1;} if(j==4) { printf("duree entiere de mesure?\n"); scanf("%d",&Time_Mesure); goto remesure; } } } //capteur de contact if(i==6) { j=-1; Kontact1_old=Kontact2_old=-1; CPhidgetInterfaceKit_getInputState(IFK,contact_front_left,&Kontact1); CPhidgetInterfaceKit_getInputState(IFK,contact_front_right,&Kontact2); if(Kontact1!=Kontact1_old||Kontact2!=Kontact2_old) { if(Kontact1==0 && contact_front_left_type==1) printf("contact front, left: NO CONTACT\n"); if(Kontact1==1 && contact_front_left_type==1) printf("contact front, left: CONTACT\n"); if(Kontact1==0 && contact_front_left_type==0) printf("contact front, left: CONTACT\n"); if(Kontact1==1 && contact_front_left_type==0) printf("contact front, left: NO CONTACT\n"); if(Kontact2==0 && contact_front_right_type==1) printf("contact front, right: NO CONTACT\n"); if(Kontact2==1 && contact_front_right_type==1) printf("contact front, right: CONTACT\n"); if(Kontact2==0 && contact_front_right_type==0) printf("contact front, right: CONTACT\n"); if(Kontact2==1 && contact_front_right_type==0) printf("contact front, right: NO CONTACT\n"); Kontact1_old=Kontact1; Kontact2_old=Kontact2; } printf("exit 0\n"); while(j!=0) { scanf("%d",&j); } } //lumiere if(i==7) { j=-1; while(j!=0) { remesure_light: printf("exit 0\n"); printf("mesure 1\n"); printf("duree mesure (defaut:%d s) 2\n",Time_Mesure); scanf("%d",&j); if(j==0){Mesure_Light=-1;continue;} if(j==1) { CPhidgetInterfaceKit_getSensorValue(IFK,light_port, &light_value); printf("light: %d\n",light_value); Mesure_Light=1; sleep(Time_Mesure); Mesure_Light=-1; } if(j==2) { printf("duree entiere de mesure?\n"); scanf("%d",&Time_Mesure); goto remesure_light; } } } //force if(i==8) { j=-1; while(j!=0) { remesure_force: printf("exit 0\n"); printf("mesure 1\n"); printf("duree mesure (defaut:%d s) 2\n",Time_Mesure); scanf("%d",&j); if(j==0){Mesure_Force=-1;continue;} if(j==1) { CPhidgetInterfaceKit_getSensorValue(IFK,forceL, &light_value); printf("force left: %f",light_value*5/1000.); CPhidgetInterfaceKit_getSensorValue(IFK,forceR, &light_value); printf("force right: %f\n",light_value*5/1000.); Mesure_Force=1; sleep(Time_Mesure); Mesure_Force=-1; } if(j==2) { printf("duree entiere de mesure?\n"); scanf("%d",&Time_Mesure); goto remesure_force; } } } //radiocommande if(i==9) { printf("Allumez l'emetteur puis le recepteur\n"); printf("Marche avant,arriere,gauche,droit par manette gauche\n"); printf("Ramasse cle par manette droite\n"); printf("tapez 1 quand pret\n"); scanf("%d",&j); for(k1=1;k1<4;k1++) { FORWARD_RC[k1]=forward_rc[k1]; TURN_RC[k1]=turn_rc[k1]; } while(j!=0) { remesure_radio: printf("exit 0\n"); printf("test commande 1\n"); printf("duree test (defaut:%d s) 2\n",Time_Mesure_Radio); scanf("%d",&j); if(j==0){Mesure_Radio=-1;continue;} if(j==1) { Mesure_Radio=1; sleep(Time_Mesure); Mesure_Radio=-1; } if(j==2) { printf("duree entiere de mesure?\n"); scanf("%d",&Time_Mesure); goto remesure_radio; } } } //colone lumineuse if(i==10) { j=-1; // CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1); // printf("output %d:%d\n",port_24V_number,k1); //mise en route du 24V Init_Colonne_24V(); GREEN=colonne_lumineuse[2]; YELLOW=colonne_lumineuse[3]; RED=colonne_lumineuse[4]; /* CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1); printf("output %d:%d\n",port_24V_number,k1); while(k1==0) { CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,0); sleep(1); CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,1); sleep(1); CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1); printf("output %d:%d\n",port_24V_number,k1); } */ while(j!=0) { printf("exit 0\n"); printf("allumage vert : 1\n"); printf("extinction vert : 2\n"); printf("allumage jaune : 3\n"); printf("extinction jaune : 4\n"); printf("allumage rouge : 5\n"); printf("extinction rouge : 6\n"); scanf("%d",&j); if(j==0) { CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,0); CPhidgetInterfaceKit_setOutputState(IFK2,RED,0); CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,0); Stop_Colonne_24V(); continue; } if(j==1)CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,1); if(j==2)CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,0); if(j==3)CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,1); if(j==4)CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,0); if(j==5)CPhidgetInterfaceKit_setOutputState(IFK2,RED,1); if(j==6)CPhidgetInterfaceKit_setOutputState(IFK2,RED,0); } } //joystick if(i==11) { j=-1; for(k1=0;k1<3;k1++) { mid_joystick[k1]=(value_joystick[k1][0]+value_joystick[k1][1])/2.; width_joystick[k1]=value_joystick[k1][1]-value_joystick[k1][0]; } while(j!=0) { printf("exit 0\n"); printf("mesure joystick 1\n"); scanf("%d",&j); if(j==0){Mesure_Joystick=-1;continue;} if(j==1){Mesure_Joystick=1;} } } //batterie if(i==12) { j=-1; while(j!=0) { CPhidgetTextLCD_setContrast (txt_lcd, 110); CPhidgetTextLCD_setDisplayString (txt_lcd, 0, "Welcome to ANG"); printf("Le LCD doit afficher le message 'Welcome to ANG'\n"); printf("exit 0\n"); printf("mesure batterie 1\n"); scanf("%d",&j); if(j==0){Mesure_Batterie=-1;continue;} if(j==1) { CPhidgetInterfaceKit_getSensorValue(IFK_LCD,volt_sensor, &light_value); VOLT=light_value*VOLT_PER_UNIT; CPhidgetInterfaceKit_getSensorValue(IFK_LCD,amp_sensor, &light_value); CURRENT=(light_value/13.2)-37.8787; CONSOM_WATT=VOLT*CURRENT; printf("Voltage: %f Current: %f %f Watt\n",VOLT,CURRENT, CONSOM_WATT); clock_gettime(CLOCK_MONOTONIC, &now); temps_batterie=temps1_batterie=now.tv_sec+1.e-9*now.tv_nsec; temps2_batterie=temps_batterie; Mesure_Batterie=1; } } } //accelerometre if(i==13) { j=-1; while(j!=0) { remesure_acc: for(k1=0;k1<3;k1++) { amin_acc[k1]=10000.; amax_acc[k1]=-10000.; } printf("exit 0\n"); printf("mesure individuelle 1\n"); printf("calibration 2\n"); printf("duree mesure (defaut:%d s) 3\n",Time_Mesure); scanf("%d",&j); if(j==0){Mesure_Accelero=-1;continue;} if(j==2) { printf("laissez le deambulateur au repose pour 10s\n"); amean[0]=amean[1]=amean[2]=0; for(k1=0;k1<10;k1++) { CPhidgetInterfaceKit_getSensorValue(IFK,accelero_X, &light_value); amean[0]+=light_value/10.; CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Y, &light_value); amean[1]+=light_value/10.; CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Z, &light_value); amean[2]+=light_value/10.; sleep(1); } printf("Mesure moyenne %f %f %f\n",amean[0],amean[1],amean[2]); goto remesure_acc; } if(j==1) { CPhidgetInterfaceKit_getSensorValue(IFK,accelero_X, &macX); CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Y, &macY); CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Z, &macZ); Get_Acceleration(&accX,&accY,&accZ,&tiltX,&tiltY, &acc_calX,&acc_calY,&acc_calZ,&tilt_calX, &tilt_calY,macX,macY,macZ); printf("Acceleration non calibree: %f %f %f\n",accX,accY,accZ); printf("Tilt x: %f y: %f\n",tiltX,tiltY); if(has_accelero_calibration==1) { printf("Acceleration calibree: %f %f %f\n",acc_calX, acc_calY,acc_calZ); printf("Tilt calibre x: %f y: %f\n",tilt_calX,tilt_calY); } Mesure_Accelero=1;sleep(Time_Mesure);Mesure_Accelero=-1; } if(j==3) { printf("duree entiere de mesure?\n"); scanf("%d",&Time_Mesure); goto remesure_acc; } } } //recepteur IR if(i==14) { if(nb_touche==0) { printf("donnez le nom du fichier touche\n"); scanf("%s",file_touche); j=Read_IR_File(file_touche,CODE_IR,&nb_touche); if(j==-1) { printf("Pas de fichier touche\n"); continue; } if(j==-2) { printf("Erreur lecture fichier touche\n"); continue; } } j=-1; while(j!=0) { printf("exit 0\n"); printf("nouveau fichier touche 1\n"); printf("attente action 2\n"); scanf("%d",&j); if(j==0){Mesure_IRR=-1;continue;} if(j==1) { printf("donnez le nom du fichier touche\n"); scanf("%s",file_touche); ierr=Read_IR_File(file_touche,CODE_IR,&nb_touche); if(ierr==-1) { printf("Pas de fichier touche\n"); continue; } if(ierr==-2) { printf("Erreur lecture fichier touche\n"); continue; } } if(j==2) { Mesure_IRR=1; } } } } exit: CPhidget_close((CPhidgetHandle)IFK); CPhidget_delete((CPhidgetHandle)IFK); return 0; }
int test_interfacekit() { int numInputs, numOutputs, numSensors; int err; CPhidgetInterfaceKitHandle IFK = 0; CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, NULL); CPhidgetInterfaceKit_create(&IFK); CPhidgetInterfaceKit_set_OnInputChange_Handler(IFK, IFK_InputChangeHandler, NULL); CPhidgetInterfaceKit_set_OnOutputChange_Handler(IFK, IFK_OutputChangeHandler, NULL); CPhidgetInterfaceKit_set_OnSensorChange_Handler(IFK, IFK_SensorChangeHandler, NULL); CPhidget_set_OnAttach_Handler((CPhidgetHandle)IFK, IFK_AttachHandler, NULL); CPhidget_set_OnDetach_Handler((CPhidgetHandle)IFK, IFK_DetachHandler, NULL); CPhidget_set_OnError_Handler((CPhidgetHandle)IFK, IFK_ErrorHandler, NULL); CPhidget_open((CPhidgetHandle)IFK, -1); //wait 5 seconds for attachment if((err = CPhidget_waitForAttachment((CPhidgetHandle)IFK, 0)) != EPHIDGET_OK ) { const char *errStr; CPhidget_getErrorDescription(err, &errStr); printf("Error waiting for attachment: (%d): %s\n",err,errStr); goto exit; } display_generic_properties((CPhidgetHandle)IFK); CPhidgetInterfaceKit_getOutputCount((CPhidgetInterfaceKitHandle)IFK, &numOutputs); CPhidgetInterfaceKit_getInputCount((CPhidgetInterfaceKitHandle)IFK, &numInputs); CPhidgetInterfaceKit_getSensorCount((CPhidgetInterfaceKitHandle)IFK, &numSensors); CPhidgetInterfaceKit_setOutputState((CPhidgetInterfaceKitHandle)IFK, 0, 1); printf("Sensors:%d Inputs:%d Outputs:%d\n", numSensors, numInputs, numOutputs); //err = CPhidget_setDeviceLabel((CPhidgetHandle)IFK, "test"); while(1) { sleep(1); } while(1) { CPhidgetInterfaceKit_setOutputState(IFK, 7, 1); CPhidgetInterfaceKit_setOutputState(IFK, 7, 0); } CPhidgetInterfaceKit_setOutputState(IFK, 0, 1); sleep(1); CPhidgetInterfaceKit_setOutputState(IFK, 0, 0); sleep(1); CPhidgetInterfaceKit_setOutputState(IFK, 0, 1); sleep(1); CPhidgetInterfaceKit_setOutputState(IFK, 0, 0); sleep(5); exit: CPhidget_close((CPhidgetHandle)IFK); CPhidget_delete((CPhidgetHandle)IFK); return 0; }
int interfacekit_simple() // initialize the phidget interface kit board and phidget spatial (imu) { int result, num_analog_inputs, num_digital_inputs; const char *err; ros::NodeHandle n; //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_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL); CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, DigitalInputHandler, NULL); CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, AnalogInputHandler, NULL); //open the interfacekit and spatial for device connections CPhidget_open((CPhidgetHandle)ifKit, -1); CPhidgetInterfaceKit_getInputCount(ifKit, &num_digital_inputs); CPhidgetInterfaceKit_getSensorCount(ifKit, &num_analog_inputs); printf("Waiting for interface kit to be attached...."); if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 1000))) { CPhidget_getErrorDescription(result, &err); ROS_ERROR("Phidget IK: Problem waiting for attachment: %s\n", err); interfaceKitError = 1; } else { irData_pub = n.advertise<corobot_msgs::SensorMsg>("infrared_data", 100); powerdata_pub = n.advertise<corobot_msgs::PowerMsg>("power_data", 100); bumper_pub = n.advertise<corobot_msgs::SensorMsg>("bumper_data", 100); // sensors connected to the phidget interface kit other than bumpers, voltage sensor, ir sensor and sonars. other_pub = n.advertise<corobot_msgs::SensorMsg>("sensor_data", 100); } //Initialize the phidget spatial board, if any if (imu) { CPhidgetSpatial_create(&spatial); CPhidget_set_OnError_Handler((CPhidgetHandle)spatial, ErrorHandler, NULL); CPhidgetSpatial_set_OnSpatialData_Handler(spatial, SpatialDataHandler, NULL); CPhidget_open((CPhidgetHandle)spatial, -1); // attach the devices printf("Waiting for spatial to be attached.... \n"); if((result = CPhidget_waitForAttachment((CPhidgetHandle)spatial, 1000))) { CPhidget_getErrorDescription(result, &err); ROS_ERROR("Phidget Spatial: Problem waiting for attachment: %s\n", err); spatialError = 1; } else { imu_pub = n.advertise<sensor_msgs::Imu>("imu_data",100); mag_pub = n.advertise<sensor_msgs::MagneticField>("magnetic_data",100); calibrate_gyroscope_service = n.advertiseService("calibrate_gyroscope",calibrate_gyroscope); } CPhidgetSpatial_setDataRate(spatial, 4); } CPhidgetInterfaceKit_setRatiometric(ifKit, 0); //Initialize the sonars, if any are present if(sonarsPresent) { CPhidgetInterfaceKit_setOutputState(ifKit, bwOutput, 1); CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); // sleep for 250ms ros::Duration(0.250).sleep(); CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1); // sleep for 2ms ros::Duration(0.002).sleep(); CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0); // sleep for 150ms ros::Duration(0.150).sleep(); sonar_pub = n.advertise<corobot_msgs::SensorMsg>("sonar_data", 100); } return 0; }