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segwayrmp.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2003 John Sweeney & Brian Gerkey * * 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 * */ #include "canio.h" #include "canio_kvaser.h" #include "player.h" #include "device.h" #include "configfile.h" // Forward declarations class rmp_frame_t; // Driver for robotic Segway class SegwayRMP : public Driver { public: // Constructors etc SegwayRMP(ConfigFile* cf, int section); ~SegwayRMP(); // Setup/shutdown routines. virtual int Setup(); virtual int Shutdown(); protected: // Supported interfaces player_device_id_t position_id; player_position_data_t position_data; player_device_id_t position3d_id; player_position3d_data_t position3d_data; player_device_id_t power_id; player_power_data_t power_data; private: const char* portname; const char* caniotype; int timeout_counter; int max_xspeed, max_yawspeed; bool firstread; DualCANIO *canio; int16_t last_xspeed, last_yawspeed; // Flag set if motors can be enabled (i.e., enable them to be // enabled). Set by a config request. bool motor_allow_enable; // Flag set if motors are currently enabled bool motor_enabled; // For handling rollover uint32_t last_raw_yaw, last_raw_left, last_raw_right, last_raw_foreaft; // Odometry calculation double odom_x, odom_y, odom_yaw; // helper to handle config requests int HandlePositionConfig(void* client, unsigned char* buffer, size_t len); // helper to handle config requests int HandlePosition3DConfig(void* client, unsigned char* buffer, size_t len); // helper to read a cycle of data from the RMP int Read(); // Calculate the difference between two raw counter values, taking care // of rollover. int Diff(uint32_t from, uint32_t to, bool first); // helper to write a packet int Write(CanPacket& pkt); // Main function for device thread. virtual void Main(); // helper to create a status command packet from the given args void MakeStatusCommand(CanPacket* pkt, uint16_t cmd, uint16_t val); // helper to take a player command and turn it into a CAN command packet void MakeVelocityCommand(CanPacket* pkt, int32_t xspeed, int32_t yawspeed); void MakeShutdownCommand(CanPacket* pkt); void UpdateData(rmp_frame_t *); };