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er.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000-2003 * David Feil-Seifer * * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* * * Relevant constants for the "ER" robots, made by Evolution Robotics. * * Some of this code is borrowed and/or adapted from the player * module of trogdor; thanks to the author of that module. */ #ifndef _ER1_DRIVER_H_ #define _ER1_DRIVER_H_ #define ER_DEFAULT_PORT "/dev/usb/tts/0" #define ER_DEFAULT_LEFT_MOTOR 0 #define ER_DELAY_US 10000 /* ER1 Commands */ #define NOOP 0x00 #define SETVEL 0x11 #define UPDATE 0x1A #define GETCMDPOS 0x1D #define GETEVENTSTATUS 0x31 #define RESETEVENTSTATUS 0x34 #define RESET 0x39 #define SETMOTORCMD 0x77 #define SETLIMITSWITCHMODE 0x80 #define GETVERSION 0x8F #define SETACCEL 0x90 #define SETDECEL 0x91 #define SETPROFILEMODE 0xA0 #define SETSTOPMODE 0xD0 #define READANALOG 0xEF #define MOTOR_0 0x00 #define MOTOR_1 0x01 /* robot-specific info */ #define ER_DEFAULT_MOTOR_0_DIR -1 #define ER_DEFAULT_MOTOR_1_DIR 1 #define ER_DEFAULT_AXLE_LENGTH .38 #define ER_MAX_TICKS 3000 #define ER_WHEEL_RADIUS .055 #define ER_WHEEL_CIRC .345575197 #define ER_WHEEL_STEP .45 #define ER_M_PER_TICK .00000602836879 /* for safety */ #define ER_MAX_WHEELSPEED 500 #define ER_MPS_PER_TICK 1 #define FULL_STOP 0 #define STOP 1 #include <player.h> #include <driver.h> #include <drivertable.h> typedef struct { player_position_data_t position; } __attribute__ ((packed)) player_er1_data_t; class ER : public Driver { private: player_er1_data_t er1_data; player_device_id_t position_id; int position_subscriptions; public: ER(ConfigFile* cf, int section); // public, so that it can be called from pthread cleanup function int SetVelocity(double lvel, double rvel); void Stop( int StopMode ); virtual void Main(); virtual int Setup(); virtual int Shutdown(); void HandleConfig(void); void GetCommand(void); void PutData(void); void HandlePositionCommand(player_position_cmd_t position_cmd); private: // this function will be run in a separate thread int InitOdom(); int InitRobot(); //serial connection int *_tc_num; int _fd; // device file descriptor const char* _serial_port; // name of dev file bool _fd_blocking; // methods for internal use int WriteBuf(unsigned char* s, size_t len); int ReadBuf(unsigned char* s, size_t len); int SendCommand(unsigned char * cmd, int cmd_len, unsigned char * ret_val, int ret_len); int ComputeTickDiff(int from, int to); int ChangeMotorState(int state); int BytesToInt32(unsigned char *ptr); float BytesToFloat(unsigned char *ptr); void UpdateOdom(int ltics, int rtics); void SpeedCommand( unsigned char address, double speed, int dir ); //periodic functions int GetOdom(int *ltics, int *rtics, int *lvel, int *rvel); int GetBatteryVoltage(int* voltage); int GetRangeSensor( int s, float * val ); void MotorSpeed(); //er values double _axle_length; int _motor_0_dir; int _motor_1_dir; //internal info bool _debug; bool _need_to_set_speed; bool _odom_initialized; bool _stopped; int _last_ltics, _last_rtics; double _px, _py, _pa; // integrated odometric pose (m,m,rad) int send_command( unsigned char address, unsigned char c, int ret_num, unsigned char * ret ); int send_command_2_arg( unsigned char address, unsigned char c, int arg, int ret_num, unsigned char * ret ); int send_command_4_arg( unsigned char address, unsigned char c, int arg, int ret_num, unsigned char * ret ); }; #endif