void tacta_output(void) {
// int lf_lf = lh_lf_output[loc];
// int lf_rf = lh_rf_output[loc];
// int rf_lf = rh_lf_output[loc];
// int rf_rf = rh_rf_output[loc];
// ROS_WARN("SENDING [%d, %d, %d, %d]", lf_lf, lf_rf, rf_lf, rf_rf);
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_SET_OUTPUT;
data_amp[2] = TACTA_BELT_ID;
data_amp[3] = RH_RF;
data_amp[4] = rh_rf_output[loc];
data_amp[5] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3] ^ data_amp[4];
device.write(data_amp, 6);
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_SET_OUTPUT;
data_amp[2] = TACTA_BELT_ID;
data_amp[3] = RH_LF;
data_amp[4] = rh_lf_output[loc];
data_amp[5] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3] ^ data_amp[4];
device.write(data_amp, 6);
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_SET_OUTPUT;
data_amp[2] = TACTA_BELT_ID;
data_amp[3] = LH_RF;
data_amp[4] = lh_rf_output[loc];
data_amp[5] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3] ^ data_amp[4];
device.write(data_amp, 6);
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_SET_OUTPUT;
data_amp[2] = TACTA_BELT_ID;
data_amp[3] = LH_LF;
data_amp[4] = lh_lf_output[loc];
data_amp[5] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3] ^ data_amp[4];
device.write(data_amp, 6);
loc++;
if (loc >= 100) { loc = 0; }
}
//receive cmds_vel from nav_stack
void cmdVelReceived(const geometry_msgs::Twist::ConstPtr& cmd_vel){
std::string result = drive(cmd_vel->linear.x, cmd_vel->angular.z, ID_Robot);
ROS_INFO("[cmd_vel]: Vlinear = %f, Vangular = %f",cmd_vel->linear.x, cmd_vel->angular.z);
ROS_INFO("Sending: %s\n", result.c_str());
serial_port.write( result.c_str() );
}
//Callback for use with the belts msg
void belt_cb (feedback_devices::tacta_belt belt){
ROS_INFO("GOT A BELT MSG");
//For Each Motor
for (int i = 0; i < belt.motors; i++){
ROS_INFO("MOTOR: %d, SET: %f", i, belt.values[i]);
}
ROS_INFO("--------------------");
//For Each Motor
for (int i = 0; i < belt.motors; i++){
//Write the value to the belt
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = i;
data[4] = belt.values[i] * 255;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
}
}
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void cmd_vel_Callback(const geometry_msgs::Twist::ConstPtr& msg)
{
double temp_val;
rec_vel_x = msg->linear.x;
rec_vel_y = msg->linear.y;
base_angle = msg->angular.z;
if(rec_vel_x == 0 && rec_vel_y ==0)
{
ang_send[0]='x';
base_vel = 0.0;
base_angle = 0;
}
else{
if(base_angle>0){
ang_send[0] ='s';
base_vel = 0.3;
}
else if(base_angle<0){
ang_send[0]='a';
base_vel=0.3;
}
else if(base_angle==0){
ang_send[0]='z';
base_vel=0.22;
}
}
device.write(ang_send,1);
}
// Create a ROS publisher and suscriber for the tacta_belt
int main(int argc, char** argv)
{
ros::init(argc, argv, "tacta_wrist");
ros::NodeHandle n;
ros::Publisher state;
ros::Rate r(TACTA_BELT_STATE_UPDATE);
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = n.subscribe ("/feedback_devices/tacta_wrist/input", 1, wrist_cb);
// Change the next line according to your port name and baud rate
try{ device.open("/dev/ttyUSB0", 19200); }
catch(cereal::Exception& e)
{
ROS_FATAL("Failed to open the serial port!!!");
ROS_BREAK();
}
ROS_INFO("The serial port is opened.");
//On Init Enable B-Cast on All Channels
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_ENB_OUTPUT;
data[2] = TACTA_BELT_BCAST;
data[3] = TACTA_BELT_BCAST;
data[4] = data[0] ^ data[1] ^ data[2] ^ data[3];
device.write(data, 5);
ros::spin();
}
/**
* @brief callback fonction pour envoyer la commande a la carte de robot.
* @param hexapode_v2::sequence_moteur::Request&
* @param hexapode_v2::sequence_moteur::Response&
* @return bool
*/
bool sequence_moteur(hexapode_v2::sequence_moteur::Request &req, hexapode_v2::sequence_moteur::Response &res)
{
int i = 0;
for(i = 0; i < 100; i++){
if (isSerialFree()){
break;
}
else{
usleep(5000); // 5 millisecondes
}
}
strcpy(sequ, (req.sequence).c_str());
device.write(sequ, (int)(req.dim));
ROS_INFO("Ecriture sur le port serie "+req.dim);
ROS_INFO(sequ);
// Get the reply, the last value is the timeout in ms
/*
try{ device.read(reply, 256, TIMEOUT); }
catch(cereal::TimeoutException& e)
{
ROS_ERROR("Timeout!");
}
ROS_INFO("Reponse obtenu du port serie: %s", reply);
*/
ros::spinOnce();
return true;
}
// Topic subscriber callbacks
void commTxCallback(const hexacamina::commData trama)
{
char dato;
// ROS_INFO("COMM: recibo dato");
dato = trama.data_hexapodo;
cp.write(&dato, 1);
ROS_INFO("COMM:\n");
ROS_INFO("[%s]: 0x%X.", COMM_MSG_TX, dato);
}
// Create a ROS publisher and suscriber for the tacta_belt
int main(int argc, char** argv)
{
ros::init(argc, argv, "tacta_fingers");
ros::NodeHandle n;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = n.subscribe ("/feedback_devices/tacta_grippers/input", 1, grippers_cb);
// Change the next line according to your port name and baud rate
try{ device.open("/dev/ttyUSB0", 19200); }
catch(cereal::Exception& e)
{
ROS_FATAL("Failed to open the serial port!!!");
ROS_BREAK();
}
ROS_INFO("The serial port has been opened.");
//On Init Enable B-Cast on All Channels
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_ENB_OUTPUT;
data_amp[2] = TACTA_BELT_BCAST;
data_amp[3] = TACTA_BELT_BCAST;
data_amp[4] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3];
device.write(data_amp, 5);
ros::Rate r(100);
for (int i = 0; i < 100; i++){
//Right Hand output struct
rh_rf_output[i] = 0;
rh_lf_output[i] = 0;
//Left Hand output struct
lh_rf_output[i] = 0;
lh_lf_output[i] = 0;
}
while(ros::ok()){
tacta_output();
ros::spinOnce();
r.sleep();
}
ros::spin();
}
// Create a ROS publisher and suscriber for the tacta_belt
int main(int argc, char** argv)
{
ros::init(argc, argv, "tacta_belt");
ros::NodeHandle n;
ros::Publisher state;
ros::Rate r(TACTA_BELT_STATE_UPDATE);
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = n.subscribe ("/feedback_devices/tacta_belt/input", 1, belt_cb);
//Advertise the two publishers, one for the commands and one for the gui
state = n.advertise<feedback_devices::tacta_belt>("/feedback_devices/tacta_belt/state", 1);
// Change the next line according to your port name and baud rate
try{ device.open("/dev/ttyUSB0", 19200); }
catch(cereal::Exception& e)
{
ROS_FATAL("Failed to open the serial port!!!");
ROS_BREAK();
}
ROS_INFO("The serial port is opened.");
//On Init Enable B-Cast on All Channels
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_ENB_OUTPUT;
data[2] = TACTA_BELT_BCAST;
data[3] = TACTA_BELT_BCAST;
data[4] = data[0] ^ data[1] ^ data[2] ^ data[3];
device.write(data, 5);
ros::spin();
// while(ros::ok())
// {
//
// // Get the reply, the last value is the timeout in ms
// try{ device.read(reply, REPLY_SIZE, TIMEOUT); }
// catch(cereal::TimeoutException& e)
// {
// ROS_ERROR("Timeout!");
// }
// ROS_INFO("Got this reply: %s", reply);
//
// ros::spinOnce();
// r.sleep();
// }
}
/**
* @brief fonction pour verifier si la porte serie est libre ou pas, ca depend de la carte de robot..
* @param void
* @return bool
*/
bool isSerialFree(){
strcpy(sequ, "Q\r\n");
device.write(sequ, 3);
memset(reply, 0, 4);
try{
device.read(reply, 1, 10);
}
catch(cereal::TimeoutException& e){
ROS_ERROR("Timeout!");
}
ROS_INFO("%s", reply);
if ('+' == reply[0]){ // busy.
return false;
}
else{//'.', free.
return true;
}
}
void tacta_output(void) {
static int loc = 0;
for (int channel = 0; channel < CHANNELS; channel++){
if (active[channel] == feedback_devices::tacta_box::ACTIVE) {
data_amp[0] = TACTA_BELT_ADDRESS;
data_amp[1] = TACTA_BELT_SET_OUTPUT;
data_amp[2] = TACTA_BELT_ID;
data_amp[3] = channel;
data_amp[4] = output[channel][loc];
data_amp[5] = data_amp[0] ^ data_amp[1] ^ data_amp[2] ^ data_amp[3] ^ data_amp[4];
device.write(data_amp, 6);
}
}
loc++;
if (loc >= 100) { loc = 0; }
}
int main(int argc, char** argv){ //typical usage: "./traxbot_node /dev/ttyACMx"
ros::init(argc, argv, "traxbot_node");
ros::NodeHandle n;
ros::NodeHandle pn("~");
std::string port;
if (argc<2){
port="/dev/ttyACM0";
ROS_WARN("No Serial Port defined, defaulting to \"%s\"",port.c_str());
ROS_WARN("Usage: \"rosrun [pkg] robot_node /serial_port\"");
}else{
port=(std::string)argv[1];
ROS_INFO("Serial port: %s",port.c_str());
}
// ROS publishers and subscribers
ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("/odom", 100);
tf::TransformBroadcaster odom_broadcaster;
ros::Subscriber cmd_vel_sub = n.subscribe<geometry_msgs::Twist>("/cmd_vel", 10, cmdVelReceived);
odom_pub_ptr = &odom_pub;
odom_broadcaster_ptr = &odom_broadcaster;
// baud_rate and serial port:
int baudrate;
pn.param<std::string>("port", port, port.c_str());
pn.param("baudrate", baudrate, 115200);
// Open the serial port to the robot
try{ serial_port.open((char*)port.c_str(), baudrate); }
catch(cereal::Exception& e){
ROS_FATAL("Robot -- Failed to open serial port!");
ROS_BREAK();
}
//wait (2.5 seconds) until serial port gets ready
ros::Duration(2.5).sleep();
// Ask Robot ID from the Arduino board (stored in the EEPROM)
ROS_INFO("Starting Traxbot...");
serial_port.write("@5e");
std::string reply;
try{ serial_port.readBetween(&reply,'@','e'); }
catch(cereal::TimeoutException& e){
ROS_ERROR("Initial Read Timeout!");
}
int VDriver, Temperature, OMNI_Firmware, Battery;
sscanf(reply.c_str(), "@5,%d,%d,%d,%d,%de", &Temperature, &OMNI_Firmware, &Battery, &VDriver, &ID_Robot); //encoder msg parsing
ROS_INFO("Traxbot ID = %d", ID_Robot);
if (ID_Robot < 1 || ID_Robot > 3){
ROS_WARN("Attention! Unexpected Traxbot ID!");
}
ROS_INFO("OMNI Board Temperature = %.2f C", Temperature*0.01);
ROS_INFO("OMNI Firmware = %.2f", OMNI_Firmware*0.01);
ROS_INFO("Arduino Firmware Version = %d.00", VDriver);
if (VDriver > 1500){
ROS_ERROR("Reset Robot Connection and try again.");
return(0);
}
ROS_INFO("Battery = %.2f V", Battery*0.01 );
if (Battery < 100){
ROS_ERROR("Robot is off. Check power source!");
return(0);
}
if (Battery < 850 && Battery > 100){
ROS_WARN("Warning! Low Battery!");
}
// Start receiving streaming data
if( !serial_port.startReadBetweenStream(boost::bind(&robotDataCallback, _1), '@', 'e') ){
ROS_FATAL("Robot -- Failed to start streaming data!");
ROS_BREAK();
}
serial_port.write("@18e");
ros::spin(); //trigger callbacks and prevents exiting
return(0);
}
//Callback for use with the belts msg
void wrist_cb (feedback_devices::tacta_wrist wrist){
ROS_INFO("--------------------");
//Top
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 0;
data[4] = wrist.top;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
//Bottom
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 1;
data[4] = wrist.bottom;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
//Left
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 2;
data[4] = wrist.left;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
//Right
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 3;
data[4] = wrist.right;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
//Front
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 4;
data[4] = wrist.front;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
//Back
data[0] = TACTA_BELT_ADDRESS;
data[1] = TACTA_BELT_SET_OUTPUT;
data[2] = TACTA_BELT_ID;
data[3] = 5;
data[4] = wrist.back;
data[5] = data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4];
device.write(data, 6);
}