From 3c1d9ee9b0c2739912693f47e95ad4199416eea8 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 14:18:39 -0700 Subject: [PATCH 001/124] Initialized arm driver node --- src/drivers/CMakeLists.txt | 8 +++++ src/drivers/include/ArmDriver.h | 53 +++++++++++++++++++++++++++++++++ src/drivers/src/ArmDriver.cpp | 50 +++++++++++++++++++++++++++++++ src/drivers/src/arm_driver.cpp | 24 +++++++++++++++ 4 files changed, 135 insertions(+) create mode 100644 src/drivers/include/ArmDriver.h create mode 100644 src/drivers/src/ArmDriver.cpp create mode 100644 src/drivers/src/arm_driver.cpp diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt index 5ca575c93..d84986a52 100644 --- a/src/drivers/CMakeLists.txt +++ b/src/drivers/CMakeLists.txt @@ -48,6 +48,14 @@ target_link_libraries(encoder_odometry_node ${catkin_LIBRARIES} ) +add_executable(arm_driver + src/ArmDriver.cpp + src/arm_driver.cpp + include/ArmDriver.h + ) +target_link_libraries(arm_driver + ${catkin_LIBRARIES} + ) ############# ## Testing ## diff --git a/src/drivers/include/ArmDriver.h b/src/drivers/include/ArmDriver.h new file mode 100644 index 000000000..b1a2b0e38 --- /dev/null +++ b/src/drivers/include/ArmDriver.h @@ -0,0 +1,53 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: June 26th, 2021 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#ifndef DRIVERS_ARM_DRIVER_H +#define DRIVERS_ARM_DRIVER_H +// STD Includes +#include + +// ROS Includes +#include +#include + +// Snowbots Includes +#include + +class ArmDriver { +public: + ArmDriver(int argc, char **argv, std::string node_name); + /** + * Adds an exclamation point to a given string + * + * Some Longer explanation should go here + * + * @param input_string the string to add an exclamation point to + * + * @return input_string with an exclamation point added to it + */ + static std::string addCharacterToString(std::string input_string, std::string suffix); + std::string suffix; + +private: + /** + * Callback function for when a new string is received + * + * @param msg the string received in the callback + */ + void subscriberCallBack(const std_msgs::String::ConstPtr& msg); + /** + * Publishes a given string + * + * @param msg_to_publish the string to publish + */ + void republishMsg(std::string msg_to_publish); + + ros::Subscriber my_subscriber; + ros::Publisher my_publisher; +}; +#endif //DRIVERS_ARM_DRIVER_H diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp new file mode 100644 index 000000000..ba302de9a --- /dev/null +++ b/src/drivers/src/ArmDriver.cpp @@ -0,0 +1,50 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: June 26th, 2021 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + +ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // Obtains character from the parameter server (or launch file), sets '!' as default + std::string parameter_name = "character"; + std::string default_character = "!"; + SB_getParam(private_nh, parameter_name, suffix, default_character); + + // Setup Subscriber(s) + std::string topic_to_subscribe_to = "subscribe_topic"; + int queue_size = 10; + my_subscriber = nh.subscribe( + topic_to_subscribe_to, queue_size, &ArmDriver::subscriberCallBack, this); + + // Setup Publisher(s) + std::string topic = private_nh.resolveName("publish_topic"); + queue_size = 1; + my_publisher = private_nh.advertise(topic, queue_size); +} + +void ArmDriver::subscriberCallBack(const std_msgs::String::ConstPtr& msg) { + ROS_INFO("Received message"); + std::string input_string = msg->data.c_str(); + std::string new_msg = addCharacterToString(input_string, suffix); + republishMsg(new_msg); +} + +std::string ArmDriver::addCharacterToString(std::string input_string, std::string suffix) { + return input_string.append(suffix); +} + +void ArmDriver::republishMsg(std::string msg_to_publish) { + std_msgs::String string_to_publish; + string_to_publish.data = msg_to_publish; + my_publisher.publish(string_to_publish); + ROS_INFO("Published message"); +} diff --git a/src/drivers/src/arm_driver.cpp b/src/drivers/src/arm_driver.cpp new file mode 100644 index 000000000..873f199e0 --- /dev/null +++ b/src/drivers/src/arm_driver.cpp @@ -0,0 +1,24 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: June 26th, 2021 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + + +int main(int argc, char **argv){ + // Setup your ROS node + std::string node_name = "arm_driver"; + + // Create an instance of your class + ArmDriver arm_driver(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} From d65d4ded377ec4085a40839caf3cc1b55e895f63 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 15:29:01 -0700 Subject: [PATCH 002/124] initialize teensy based code --- src/drivers/src/ArmDriver.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp index ba302de9a..844f41c7b 100644 --- a/src/drivers/src/ArmDriver.cpp +++ b/src/drivers/src/ArmDriver.cpp @@ -19,6 +19,13 @@ ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { std::string default_character = "!"; SB_getParam(private_nh, parameter_name, suffix, default_character); + // Get Params + SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); + // Open the given serial port + teensy.Open(port); + teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); // adjust + teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); // adjust + // Setup Subscriber(s) std::string topic_to_subscribe_to = "subscribe_topic"; int queue_size = 10; From 038c531980f5603fc7e70e6693ce3f580ea51934 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 16:15:23 -0700 Subject: [PATCH 003/124] Add xbox-switch switching logic and complete initialization of teensy --- src/drivers/include/ArmDriver.h | 22 ++++++++++++++++++++++ src/drivers/src/ArmDriver.cpp | 13 +++++++++++++ 2 files changed, 35 insertions(+) diff --git a/src/drivers/include/ArmDriver.h b/src/drivers/include/ArmDriver.h index b1a2b0e38..5fac6cd4c 100644 --- a/src/drivers/include/ArmDriver.h +++ b/src/drivers/include/ArmDriver.h @@ -13,11 +13,15 @@ // ROS Includes #include +#include #include // Snowbots Includes #include +// Other +#include + class ArmDriver { public: ArmDriver(int argc, char **argv, std::string node_name); @@ -40,6 +44,14 @@ class ArmDriver { * @param msg the string received in the callback */ void subscriberCallBack(const std_msgs::String::ConstPtr& msg); + /** + * Callback function for switching between the Xbox and the Pro Controller + * + * @param msg the boolean received in the callback + * true when the Xbox mode is active + * false when the Pro Controller mode is active + */ + void controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg); /** * Publishes a given string * @@ -47,6 +59,16 @@ class ArmDriver { */ void republishMsg(std::string msg_to_publish); + // The SerialStream to/from the teensy + LibSerial::SerialStream teensy; + + // The Port the teensy is connected to + std::string port; + + // True if we are accepting commands from Xbox controller + // false if we are accepting commands from Pro Controller + bool xbox_mode; + ros::Subscriber my_subscriber; ros::Publisher my_publisher; }; diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp index 844f41c7b..f7bdc5776 100644 --- a/src/drivers/src/ArmDriver.cpp +++ b/src/drivers/src/ArmDriver.cpp @@ -32,6 +32,11 @@ ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { my_subscriber = nh.subscribe( topic_to_subscribe_to, queue_size, &ArmDriver::subscriberCallBack, this); + xbox_mode = false; + int queue_size = 10; + my_subscriber = nh.subscribe( + "xbox_mode", queue_size, &ArmDriver::controllerModeCallBack, this); + // Setup Publisher(s) std::string topic = private_nh.resolveName("publish_topic"); queue_size = 1; @@ -45,6 +50,14 @@ void ArmDriver::subscriberCallBack(const std_msgs::String::ConstPtr& msg) { republishMsg(new_msg); } +void ArmDriver::controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg) { + xbox_mode = msg->data; + if (xbox_mode) + ROS_INFO("Enabling Xbox Mode"); + else + ROS_INFO("Enabling Pro Controller Mode"); +} + std::string ArmDriver::addCharacterToString(std::string input_string, std::string suffix) { return input_string.append(suffix); } From c95f8b5a80639cfc3b5c246a5e8b75b53cc7b609 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 16:35:19 -0700 Subject: [PATCH 004/124] Add mode to procontroller_snowbots package --- src/drivers/include/ArmDriver.h | 2 +- src/drivers/src/ArmDriver.cpp | 1 - src/procontroller_snowbots/include/ProController.h | 2 +- src/procontroller_snowbots/src/ProController.cpp | 10 +++++++--- 4 files changed, 9 insertions(+), 6 deletions(-) diff --git a/src/drivers/include/ArmDriver.h b/src/drivers/include/ArmDriver.h index 5fac6cd4c..2ff2543b0 100644 --- a/src/drivers/include/ArmDriver.h +++ b/src/drivers/include/ArmDriver.h @@ -67,7 +67,7 @@ class ArmDriver { // True if we are accepting commands from Xbox controller // false if we are accepting commands from Pro Controller - bool xbox_mode; + bool xbox_mode = false; ros::Subscriber my_subscriber; ros::Publisher my_publisher; diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp index f7bdc5776..8dee86e08 100644 --- a/src/drivers/src/ArmDriver.cpp +++ b/src/drivers/src/ArmDriver.cpp @@ -32,7 +32,6 @@ ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { my_subscriber = nh.subscribe( topic_to_subscribe_to, queue_size, &ArmDriver::subscriberCallBack, this); - xbox_mode = false; int queue_size = 10; my_subscriber = nh.subscribe( "xbox_mode", queue_size, &ArmDriver::controllerModeCallBack, this); diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 579f46a64..27be7610e 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -55,7 +55,7 @@ class ProController { double x; double z; struct libevdev* dev = NULL; - enum Mode { wheels = 0, arm = 1 }; + enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; Mode state; bool debug = false; ros::Publisher pubmove; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 467d67fbd..49cb6b027 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -113,7 +113,7 @@ void ProController::readInputs() { if (state == Mode::wheels) { // Publish motion, update x and z old using tuple tie(x_old, z_old) = publishMoveXZ(x, z, x_old, z_old); - } else if (state == Mode::arm) { + } else if (state == Mode::arm_joint_space) { publishArmXZ(x, z, x_old, z_old); } } @@ -133,8 +133,12 @@ void ProController::printControllerDebug(int type, int code, int value) { void ProController::printState() { if (state == Mode::wheels) { ROS_INFO("Current mode: controlling wheels"); - } else if (state == Mode::arm) { - ROS_INFO("Current mode: controlling arm"); + } else if (state == Mode::arm_joint_space) { + ROS_INFO("Current mode: controlling arm in the joint space"); + } else if (state == Mode::arm_cartesian) { + ROS_INFO("Current mode: controlling arm in the cartesian space"); + } else if (state == Mode::drilling) { + ROS_INFO("Current mode: drilling with the arm"); } else { ROS_INFO("There is no current mode, which is a problem"); } From e88ca500218615ca91085ac3d7e11e96f8fd22e4 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 16:57:44 -0700 Subject: [PATCH 005/124] Remove starter code --- src/drivers/include/ArmDriver.h | 24 ------------------------ src/drivers/src/ArmDriver.cpp | 33 --------------------------------- 2 files changed, 57 deletions(-) diff --git a/src/drivers/include/ArmDriver.h b/src/drivers/include/ArmDriver.h index 2ff2543b0..1a6a0c62e 100644 --- a/src/drivers/include/ArmDriver.h +++ b/src/drivers/include/ArmDriver.h @@ -25,25 +25,8 @@ class ArmDriver { public: ArmDriver(int argc, char **argv, std::string node_name); - /** - * Adds an exclamation point to a given string - * - * Some Longer explanation should go here - * - * @param input_string the string to add an exclamation point to - * - * @return input_string with an exclamation point added to it - */ - static std::string addCharacterToString(std::string input_string, std::string suffix); - std::string suffix; private: - /** - * Callback function for when a new string is received - * - * @param msg the string received in the callback - */ - void subscriberCallBack(const std_msgs::String::ConstPtr& msg); /** * Callback function for switching between the Xbox and the Pro Controller * @@ -52,12 +35,6 @@ class ArmDriver { * false when the Pro Controller mode is active */ void controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg); - /** - * Publishes a given string - * - * @param msg_to_publish the string to publish - */ - void republishMsg(std::string msg_to_publish); // The SerialStream to/from the teensy LibSerial::SerialStream teensy; @@ -70,6 +47,5 @@ class ArmDriver { bool xbox_mode = false; ros::Subscriber my_subscriber; - ros::Publisher my_publisher; }; #endif //DRIVERS_ARM_DRIVER_H diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp index 8dee86e08..22ac9aaa2 100644 --- a/src/drivers/src/ArmDriver.cpp +++ b/src/drivers/src/ArmDriver.cpp @@ -14,11 +14,6 @@ ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { ros::NodeHandle nh; ros::NodeHandle private_nh("~"); - // Obtains character from the parameter server (or launch file), sets '!' as default - std::string parameter_name = "character"; - std::string default_character = "!"; - SB_getParam(private_nh, parameter_name, suffix, default_character); - // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port @@ -27,26 +22,9 @@ ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); // adjust // Setup Subscriber(s) - std::string topic_to_subscribe_to = "subscribe_topic"; - int queue_size = 10; - my_subscriber = nh.subscribe( - topic_to_subscribe_to, queue_size, &ArmDriver::subscriberCallBack, this); - int queue_size = 10; my_subscriber = nh.subscribe( "xbox_mode", queue_size, &ArmDriver::controllerModeCallBack, this); - - // Setup Publisher(s) - std::string topic = private_nh.resolveName("publish_topic"); - queue_size = 1; - my_publisher = private_nh.advertise(topic, queue_size); -} - -void ArmDriver::subscriberCallBack(const std_msgs::String::ConstPtr& msg) { - ROS_INFO("Received message"); - std::string input_string = msg->data.c_str(); - std::string new_msg = addCharacterToString(input_string, suffix); - republishMsg(new_msg); } void ArmDriver::controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg) { @@ -56,14 +34,3 @@ void ArmDriver::controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg) { else ROS_INFO("Enabling Pro Controller Mode"); } - -std::string ArmDriver::addCharacterToString(std::string input_string, std::string suffix) { - return input_string.append(suffix); -} - -void ArmDriver::republishMsg(std::string msg_to_publish) { - std_msgs::String string_to_publish; - string_to_publish.data = msg_to_publish; - my_publisher.publish(string_to_publish); - ROS_INFO("Published message"); -} From 0ce27e3f6e77f9ddab9d4b719759dca3c4ec0c9b Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 26 Jun 2022 18:12:22 -0700 Subject: [PATCH 006/124] fix compiler errors --- src/drivers/CMakeLists.txt | 1 + src/procontroller_snowbots/src/ProController.cpp | 9 ++------- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt index d84986a52..59a253a9c 100644 --- a/src/drivers/CMakeLists.txt +++ b/src/drivers/CMakeLists.txt @@ -55,6 +55,7 @@ add_executable(arm_driver ) target_link_libraries(arm_driver ${catkin_LIBRARIES} + ${libserial_LIBRARIES} ) ############# diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 49cb6b027..d455481c1 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -289,13 +289,8 @@ void ProController::home(int value) { if (value == 1) { ROS_INFO("Home button pressed"); } else if (value == 0) { - if (state == Mode::wheels) { - state = Mode::arm; - printState(); - } else { - state = Mode::wheels; - printState(); - } + state = static_cast((state + 1) % (Mode::drilling + 1)); + printState(); } } } From 1d72c282f4a8bac1019db379705970fdf171e79a Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Sun, 3 Jul 2022 17:38:22 -0700 Subject: [PATCH 007/124] Draft ros_control based hardware interface exposing PointJointInterface --- src/arm_hardware_interface/CMakeLists.txt | 213 ++++++++++++++++++ .../include/ArmHardwareInterface.h | 40 ++++ src/arm_hardware_interface/package.xml | 59 +++++ .../src/ArmHardwareInterface.cpp | 36 +++ .../src/arm_hardware_interface.cpp | 24 ++ 5 files changed, 372 insertions(+) create mode 100644 src/arm_hardware_interface/CMakeLists.txt create mode 100644 src/arm_hardware_interface/include/ArmHardwareInterface.h create mode 100644 src/arm_hardware_interface/package.xml create mode 100644 src/arm_hardware_interface/src/ArmHardwareInterface.cpp create mode 100644 src/arm_hardware_interface/src/arm_hardware_interface.cpp diff --git a/src/arm_hardware_interface/CMakeLists.txt b/src/arm_hardware_interface/CMakeLists.txt new file mode 100644 index 000000000..df4cdff51 --- /dev/null +++ b/src/arm_hardware_interface/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arm_hardware_interface) + +# Build in "Release" (with lots of compiler optimizations) by default +# (If built in "Debug", some functions can take orders of magnitude longer) +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") +endif() + +add_definitions(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs +) +find_package(sb_utils REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES sample_package +# CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${sb_utils_INCLUDE_DIRS} + ./include +) + +## Declare a C++ library +# add_library(sample_package +# src/${PROJECT_NAME}/sample_package.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(sample_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(sample_package_node src/sample_package_node.cpp) +add_executable(arm_hardware_interface src/arm_hardware_interface.cpp src/ArmHardwareInterface.cpp include/ArmHardwareInterface.h) + + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(sample_package_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(sample_package_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries(arm_hardware_interface ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS sample_package sample_package_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +#if (CATKIN_ENABLE_TESTING) +# +# # Adding gtests to the package +# catkin_add_gtest(my-node-test test/my-node-test.cpp src/MyNode.cpp) +# target_link_libraries(my-node-test ${catkin_LIBRARIES}) +# +# # Adding rostest to the package +# find_package(rostest REQUIRED) +# # name the test and link it to the .test file and the .cpp file itself, this will allow +# # "catkin_make run_tests" to be able to find and run this rostest +# add_rostest_gtest(my_node_rostest test/sample_package_test.test test/my_node_rostest.cpp) +# target_link_libraries(my_node_rostest ${catkin_LIBRARIES}) +#endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/arm_hardware_interface/include/ArmHardwareInterface.h b/src/arm_hardware_interface/include/ArmHardwareInterface.h new file mode 100644 index 000000000..0f5086f7a --- /dev/null +++ b/src/arm_hardware_interface/include/ArmHardwareInterface.h @@ -0,0 +1,40 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: June 28th, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#ifndef ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H +#define ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H + +// STD Includes +#include + +// ROS Includes +#include +#include +#include + +// Snowbots Includes +#include + +class ArmHardwareInterface : public hardware_interface::RobotHW { +public: + ArmHardwareInterface(int argc, char **argv, std::string node_name); + void read(const ros::Time& time, const ros::Duration& period); + void write(const ros::Time& time, const ros::Duration& period); + +private: + hardware_interface::JointStateInterface joint_state_interface; + hardware_interface::PositionJointInterface position_state_interface; + std::vector commands; + std::vector velocities; + std::vector positions; + std::vector efforts; + std::vector joint_state_handles; + std::vector joint_handles; + int num_joints; +}; +#endif //ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H diff --git a/src/arm_hardware_interface/package.xml b/src/arm_hardware_interface/package.xml new file mode 100644 index 000000000..746279afb --- /dev/null +++ b/src/arm_hardware_interface/package.xml @@ -0,0 +1,59 @@ + + + arm_hardware_interface + 0.0.0 + The arm_hardware_interface package + + + + + gareth + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + sb_utils + hardware_interface + roscpp + std_msgs + sb_utils + hardware_interface + ros_controllers + + + + + + + + diff --git a/src/arm_hardware_interface/src/ArmHardwareInterface.cpp b/src/arm_hardware_interface/src/ArmHardwareInterface.cpp new file mode 100644 index 000000000..cf183ccd9 --- /dev/null +++ b/src/arm_hardware_interface/src/ArmHardwareInterface.cpp @@ -0,0 +1,36 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: June 28th, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + +ArmHardwareInterface::ArmHardwareInterface(int argc, char **argv, std::string node_name) { + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle private_nh("~"); + SB_getParam(private_nh, "num_joints", num_joints, 7); + + commands.resize(num_joints); + velocities.resize(num_joints); + positions.resize(num_joints); + efforts.resize(num_joints); + for (int i = 0; i < num_joints; ++i) { + hardware_interface::JointStateHandle state_handle(""+i, &positions[i], &velocities[i], &commands[i]); + joint_state_interface.registerHandle(state_handle); + + hardware_interface::JointHandle position_handle(joint_state_interface.getHandle(""+i), &commands[0]); + position_state_interface.registerHandle(position_handle); + } + registerInterface(&joint_state_interface); + registerInterface(&position_state_interface); +} + +void ArmHardwareInterface::read(const ros::Time& time, const ros::Duration& period) { +} + +void ArmHardwareInterface::write(const ros::Time& time, const ros::Duration& period) { +} diff --git a/src/arm_hardware_interface/src/arm_hardware_interface.cpp b/src/arm_hardware_interface/src/arm_hardware_interface.cpp new file mode 100644 index 000000000..64f4c724a --- /dev/null +++ b/src/arm_hardware_interface/src/arm_hardware_interface.cpp @@ -0,0 +1,24 @@ +/* + * Created By: Ihsan Olawale, Tate Kolton + * Created On: July 3rd, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + + +int main(int argc, char **argv){ + // Setup your ROS node + std::string node_name = "arm_hardware_interface"; + + // Create an instance of your class + ArmHardwareInterface arm_hardware_interface(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} From 15b92bf4611c9555144a7a6ba1569cc70f45f895 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 4 Jul 2022 18:16:18 -0700 Subject: [PATCH 008/124] Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node --- .../include/ProController.h | 34 +++++ .../src/ProController.cpp | 121 ++++++++++++++---- 2 files changed, 129 insertions(+), 26 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 27be7610e..09901ff04 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -54,6 +54,40 @@ class ProController { double Z_SENSITIVITY = 1.0; double x; double z; + std::string armOutMsg, armOutVal; + // character representations of buttons for arm communication + const char leftJSL = 'A'; + const char leftJSR = 'B'; + const char rightJSU = 'C'; + const char rightJSD = 'D'; + const char buttonA = 'E'; + const char buttonB = 'F'; + const char buttonX = 'G'; + const char buttonY = 'H'; + const char triggerL = 'I'; + const char triggerR = 'J'; + const char bumperL = 'K'; + const char bumperR = 'L'; + const char buttonARel = 'M'; + const char buttonBRel = 'N'; + const char buttonXRel = 'O'; + const char buttonYRel = 'P'; + const char triggerLRel = 'Q'; + const char triggerRRel = 'R'; + const char bumperLRel = 'S'; + const char bumperRRel = 'T'; + const char arrowL = 'U'; + const char arrowR = 'V'; + const char arrowU = 'W'; + const char arrowD = 'X'; + const char arrowLRRel = 'Y'; + const char arrowUDRel = 'Z'; + // arm modes + const char jointMode = "1"; + const char IKMode = "2"; + const char drillMode = "3"; + + struct libevdev* dev = NULL; enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; Mode state; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index d455481c1..b5cb275a3 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -10,6 +10,7 @@ // Read the master documentation if there's any issues with this package ProController::ProController(int argc, char** argv, string node_name) { string publisher = "/cmd_vel"; + string armPublisher = "/cmd_arm"; setup(); ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); @@ -23,7 +24,7 @@ ProController::ProController(int argc, char** argv, string node_name) { ROS_INFO("Debug mode %s", (debug) ? "on" : "off"); } pubmove = private_nh.advertise(publisher, 1); - pubarm = private_nh.advertise("/cmd_arm", 1); + pubarm = private_nh.advertise(armPublisher, 1); ROS_INFO("Preparing to read inputs...\n"); state = Mode::wheels; printState(); @@ -87,6 +88,9 @@ void ProController::readInputs() { if (debug) { printControllerDebug(ev.type, ev.code, ev.value); } else { + + // vehicle for arm output message + armOutMsg = ""; // handle all controller inputs using API functions switch (ev.code) { case ABS_X: leftJoystickX(ev.value); break; @@ -113,8 +117,23 @@ void ProController::readInputs() { if (state == Mode::wheels) { // Publish motion, update x and z old using tuple tie(x_old, z_old) = publishMoveXZ(x, z, x_old, z_old); - } else if (state == Mode::arm_joint_space) { - publishArmXZ(x, z, x_old, z_old); + } + else if (state == Mode::arm_joint_space) { // Joint space control of the arm + armOutMsg += jointMode; + armOutMsg += armOutVal; + publishArmMessage(armOutMsg); + } + + else if (state == Mode::arm_cartesian) { // Inverse Kinematics mode i.e. cartesian motion + armOutMsg += IKMode; + armOutMsg += armOutVal; + publishArmMessage(armOutMsg); + } + + else { // Drilling mode for arm + outmsg += drillMode; + armOutMsg += armOutVal; + publishArmMessage(armOutMsg); } } } @@ -161,23 +180,44 @@ tuple ProController::publishMoveXZ(double x_new, return make_tuple(x_old, z_old); } -// The place to implement arm commands if they use left joystick x and y -void ProController::publishArmXZ(double x_new, - double z_new, - double x_old, - double z_old) { - // use pubarm to do something with x and z inputs +// If controller recieves new commands and is in an arm mode, send message to arm +void publishArmMessage(std::string outMsg) { + outMsg += '\n'; + pubarm.publish(outMsg); } // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { + if (value > 115 && value < 135) { - z = 0; - } else { + + if(state == Mode::wheels) { + z = 0; + } + + else if(state == Mode::arm_joint_space){ + armOutVal += leftJSRelease; + } + } + + else { + // 128 is the center, so this normalizes the result to // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); z = -(value - 128) / 128.0 * Z_SENSITIVITY; + + // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick + if(state == Mode::arm_joint_space) { + + if(z > 0) { + armOutVal = leftJSL; + } + + else { + armOutVal = leftJSR; + } + } } } @@ -202,70 +242,94 @@ void ProController::rightJoystickX(int value) { } } -// Currently doing nothing void ProController::rightJoystickY(int value) { + if (value > 118 && value < 137) { - // do nothing - } else { + + armOutVal += leftJSRelease; + } + + else { + + // 128 is the center, so this normalizes the result to + // [-1,1]*Z_SENSITIVITY ROS_INFO("Right Joystick Y event with value: %d\n", value); + z = -(value - 128) / 128.0 * Z_SENSITIVITY; + + // Right joystick is only used in Y direction in all arm modes + if(state != Mode::wheels) { + + if(z > 0) { + armOutVal = rightJSU; + } + + else { + armOutVal = rightJSD; + } + } } } -// Currently doing nothing void ProController::A(int value) { if (value == 1) { ROS_INFO("A button pressed"); + armOutVal = buttonA; } else if (value == 0) { ROS_INFO("A button released"); + armOutVal = buttonARel; } } -// Currently doing nothing void ProController::B(int value) { if (value == 1) { ROS_INFO("B button pressed"); + armOutVal = buttonB; } else if (value == 0) { ROS_INFO("B button released"); + armOutVal = buttonBRel; } } -// Currently doing nothing void ProController::X(int value) { if (value == 1) { ROS_INFO("X button pressed"); + armOutVal = buttonX; } else if (value == 0) { ROS_INFO("X button released"); + armOutVal = buttonXRel; } } -// Currently doing nothing void ProController::Y(int value) { if (value == 1) { ROS_INFO("Y button pressed"); + armOutVal = buttonY; } else if (value == 0) { ROS_INFO("Y button released"); + armOutVal = buttonYRel; } } -// Currently doing nothing void ProController::leftBumper(int value) { if (value == 1) { ROS_INFO("Left bumper pressed"); + armOutVal = bumperL; } else if (value == 0) { ROS_INFO("Left bumper released"); + armOutVal = bumperLRel; } } -// Currently doing nothing void ProController::rightBumper(int value) { if (value == 1) { ROS_INFO("Right bumper pressed"); + armOutVal = bumperR; } else if (value == 0) { ROS_INFO("Right bumper released"); + armOutVal = bumperRRel; } } -// Currently doing nothing void ProController::select(int value) { if (value == 1) { ROS_INFO("Select button pressed"); @@ -274,7 +338,6 @@ void ProController::select(int value) { } } -// Currently doing nothing void ProController::start(int value) { if (value == 1) { ROS_INFO("Start button pressed"); @@ -295,43 +358,49 @@ void ProController::home(int value) { } } -// Currently doing nothing void ProController::leftTrigger(int value) { if (value == 255) { ROS_INFO("Left trigger pressed"); + armOutVal = triggerL; } else if (value == 0) { ROS_INFO("Left trigger released"); + armOutVal = triggerLRel; } } -// Currently doing nothing void ProController::rightTrigger(int value) { if (value == 255) { ROS_INFO("Right trigger pressed"); + armOutVal = triggerR; } else if (value == 0) { ROS_INFO("Right trigger released"); + armOutVal = triggerRRel; } } -// Currently doing nothing void ProController::arrowsRorL(int value) { if (value == 1) { ROS_INFO("Right button pressed"); + armOutVal = arrowR; } else if (value == 0) { ROS_INFO("Arrow button released"); + armOutVal = arrowRLRel; } else { ROS_INFO("Left button pressed"); + armOutVal = arrowL; } } -// Currently doing nothing void ProController::arrowsUorD(int value) { if (value == 1) { ROS_INFO("Up button pressed"); + armOutVal = arrowU; } else if (value == 0) { ROS_INFO("Arrow button released"); + armOutVal = arrowUDRel; } else { ROS_INFO("Down button pressed"); + armOutVal = arrowD; } } From f406bc7747e18a8ce6f42190b39ddc60cfb505ab Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 4 Jul 2022 18:25:37 -0700 Subject: [PATCH 009/124] added files for subscriber side of arm teensy interface --- .../CMakeLists.txt | 0 .../include/teensyIntegration.h | 94 +++++++++++++++++++ .../src/teensyIntegration.cpp | 0 3 files changed, 94 insertions(+) create mode 100644 src/arm_teensy_integration_package/CMakeLists.txt create mode 100644 src/arm_teensy_integration_package/include/teensyIntegration.h create mode 100644 src/arm_teensy_integration_package/src/teensyIntegration.cpp diff --git a/src/arm_teensy_integration_package/CMakeLists.txt b/src/arm_teensy_integration_package/CMakeLists.txt new file mode 100644 index 000000000..e69de29bb diff --git a/src/arm_teensy_integration_package/include/teensyIntegration.h b/src/arm_teensy_integration_package/include/teensyIntegration.h new file mode 100644 index 000000000..17d5ff02c --- /dev/null +++ b/src/arm_teensy_integration_package/include/teensyIntegration.h @@ -0,0 +1,94 @@ +/* + * Created By: Tate Kolton and Ihsan Olawale + * Created On: July 4, 2022 + * Description: Simple header file for recieving arm related messages from proController node + */ + +#include +#include +#include +#include +#include +#include +#include +using namespace std; + +class teensyIntegration { + public: + ProController(int argc, char** argv, std::string node_name); + + private: + void setup(); + void readInputs(); + void leftJoystickX(int value); // ABS_X + void leftJoystickY(int value); // ABS_Y + void rightJoystickX(int value); // ABS_RX + void rightJoystickY(int value); // ABS_RY + void A(int value); // BTN_EAST + void B(int value); // BTN_SOUTH + void X(int value); // BTN_WEST + void Y(int value); // BTN_NORTH + void leftBumper(int value); // BTN_TL + void rightBumper(int value); // BTN_TR + void select(int value); // BTN_SELECT + void start(int value); // BTN_START + void home(int value); // BTN_MODE + void leftTrigger(int value); // ABS_Z + void rightTrigger(int value); // ABS_RZ + void arrowsRorL(int value); // ABS_HAT0X + void arrowsUorD(int value); // ABS_HAT0Y + void leftJoystickPress(int value); // BTN_THUMBL + void rightJoystickPress(int value); // BTN_THUMBR + tuple + publishMoveXZ(double x_new, double z_new, double x_old, double z_old); + void publishArmXZ(double x_new, double z_new, double x_old, double z_old); + void printState(); + void printControllerDebug(int type, int code, int value); + // see documentation to changes sensitivities at runtime + double X_SENSITIVITY = 1.0; + double Z_SENSITIVITY = 1.0; + double x; + double z; + std::string armOutMsg, armOutVal; + // character representations of buttons for arm communication + const char leftJSL = 'A'; + const char leftJSR = 'B'; + const char rightJSU = 'C'; + const char rightJSD = 'D'; + const char buttonA = 'E'; + const char buttonB = 'F'; + const char buttonX = 'G'; + const char buttonY = 'H'; + const char triggerL = 'I'; + const char triggerR = 'J'; + const char bumperL = 'K'; + const char bumperR = 'L'; + const char buttonARel = 'M'; + const char buttonBRel = 'N'; + const char buttonXRel = 'O'; + const char buttonYRel = 'P'; + const char triggerLRel = 'Q'; + const char triggerRRel = 'R'; + const char bumperLRel = 'S'; + const char bumperRRel = 'T'; + const char arrowL = 'U'; + const char arrowR = 'V'; + const char arrowU = 'W'; + const char arrowD = 'X'; + const char arrowLRRel = 'Y'; + const char arrowUDRel = 'Z'; + // arm modes + const char jointMode = "1"; + const char IKMode = "2"; + const char drillMode = "3"; + + + struct libevdev* dev = NULL; + enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; + Mode state; + bool debug = false; + ros::Publisher pubmove; + ros::Publisher pubarm; +}; + +#endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_Hv \ No newline at end of file diff --git a/src/arm_teensy_integration_package/src/teensyIntegration.cpp b/src/arm_teensy_integration_package/src/teensyIntegration.cpp new file mode 100644 index 000000000..e69de29bb From 7c100a89971c8fb379324832513c4feaceaae957 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 4 Jul 2022 21:27:52 -0700 Subject: [PATCH 010/124] Created subscriber side of pro to teensy communication. Ihsan to fill out rosserial APIs to send strings to teensy --- .../CMakeLists.txt | 0 .../include/teensyIntegration.h | 94 --------- .../src/teensyIntegration.cpp | 0 .../include/ProController.h | 26 ++- .../src/ProController.cpp | 13 +- .../include/teensyProInterface.h | 85 ++++++++ .../src/teensyProInterface.cpp | 191 ++++++++++++++++++ .../src/teensy_pro_interface.cpp | 21 ++ 8 files changed, 316 insertions(+), 114 deletions(-) delete mode 100644 src/arm_teensy_integration_package/CMakeLists.txt delete mode 100644 src/arm_teensy_integration_package/include/teensyIntegration.h delete mode 100644 src/arm_teensy_integration_package/src/teensyIntegration.cpp create mode 100644 src/teensy_pro_interface_package/include/teensyProInterface.h create mode 100644 src/teensy_pro_interface_package/src/teensyProInterface.cpp create mode 100644 src/teensy_pro_interface_package/src/teensy_pro_interface.cpp diff --git a/src/arm_teensy_integration_package/CMakeLists.txt b/src/arm_teensy_integration_package/CMakeLists.txt deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/arm_teensy_integration_package/include/teensyIntegration.h b/src/arm_teensy_integration_package/include/teensyIntegration.h deleted file mode 100644 index 17d5ff02c..000000000 --- a/src/arm_teensy_integration_package/include/teensyIntegration.h +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Created By: Tate Kolton and Ihsan Olawale - * Created On: July 4, 2022 - * Description: Simple header file for recieving arm related messages from proController node - */ - -#include -#include -#include -#include -#include -#include -#include -using namespace std; - -class teensyIntegration { - public: - ProController(int argc, char** argv, std::string node_name); - - private: - void setup(); - void readInputs(); - void leftJoystickX(int value); // ABS_X - void leftJoystickY(int value); // ABS_Y - void rightJoystickX(int value); // ABS_RX - void rightJoystickY(int value); // ABS_RY - void A(int value); // BTN_EAST - void B(int value); // BTN_SOUTH - void X(int value); // BTN_WEST - void Y(int value); // BTN_NORTH - void leftBumper(int value); // BTN_TL - void rightBumper(int value); // BTN_TR - void select(int value); // BTN_SELECT - void start(int value); // BTN_START - void home(int value); // BTN_MODE - void leftTrigger(int value); // ABS_Z - void rightTrigger(int value); // ABS_RZ - void arrowsRorL(int value); // ABS_HAT0X - void arrowsUorD(int value); // ABS_HAT0Y - void leftJoystickPress(int value); // BTN_THUMBL - void rightJoystickPress(int value); // BTN_THUMBR - tuple - publishMoveXZ(double x_new, double z_new, double x_old, double z_old); - void publishArmXZ(double x_new, double z_new, double x_old, double z_old); - void printState(); - void printControllerDebug(int type, int code, int value); - // see documentation to changes sensitivities at runtime - double X_SENSITIVITY = 1.0; - double Z_SENSITIVITY = 1.0; - double x; - double z; - std::string armOutMsg, armOutVal; - // character representations of buttons for arm communication - const char leftJSL = 'A'; - const char leftJSR = 'B'; - const char rightJSU = 'C'; - const char rightJSD = 'D'; - const char buttonA = 'E'; - const char buttonB = 'F'; - const char buttonX = 'G'; - const char buttonY = 'H'; - const char triggerL = 'I'; - const char triggerR = 'J'; - const char bumperL = 'K'; - const char bumperR = 'L'; - const char buttonARel = 'M'; - const char buttonBRel = 'N'; - const char buttonXRel = 'O'; - const char buttonYRel = 'P'; - const char triggerLRel = 'Q'; - const char triggerRRel = 'R'; - const char bumperLRel = 'S'; - const char bumperRRel = 'T'; - const char arrowL = 'U'; - const char arrowR = 'V'; - const char arrowU = 'W'; - const char arrowD = 'X'; - const char arrowLRRel = 'Y'; - const char arrowUDRel = 'Z'; - // arm modes - const char jointMode = "1"; - const char IKMode = "2"; - const char drillMode = "3"; - - - struct libevdev* dev = NULL; - enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; - Mode state; - bool debug = false; - ros::Publisher pubmove; - ros::Publisher pubarm; -}; - -#endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_Hv \ No newline at end of file diff --git a/src/arm_teensy_integration_package/src/teensyIntegration.cpp b/src/arm_teensy_integration_package/src/teensyIntegration.cpp deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 09901ff04..9713feb6a 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -68,20 +68,18 @@ class ProController { const char triggerR = 'J'; const char bumperL = 'K'; const char bumperR = 'L'; - const char buttonARel = 'M'; - const char buttonBRel = 'N'; - const char buttonXRel = 'O'; - const char buttonYRel = 'P'; - const char triggerLRel = 'Q'; - const char triggerRRel = 'R'; - const char bumperLRel = 'S'; - const char bumperRRel = 'T'; - const char arrowL = 'U'; - const char arrowR = 'V'; - const char arrowU = 'W'; - const char arrowD = 'X'; - const char arrowLRRel = 'Y'; - const char arrowUDRel = 'Z'; + const char buttonRel = "M"; + const char triggerLRel = 'N'; + const char triggerRRel = 'O'; + const char bumperLRel = 'P'; + const char bumperRRel = 'Q'; + const char arrowL = 'R'; + const char arrowR = 'S'; + const char arrowU = 'T'; + const char arrowD = 'U'; + const char leftJSRel = "V"; + const char rightJSRel = "W"; + const char homeVal = "X"; // arm modes const char jointMode = "1"; const char IKMode = "2"; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index b5cb275a3..1dcc16bb5 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -196,7 +196,7 @@ void ProController::leftJoystickX(int value) { } else if(state == Mode::arm_joint_space){ - armOutVal += leftJSRelease; + armOutVal += leftJSRel; } } @@ -246,7 +246,7 @@ void ProController::rightJoystickY(int value) { if (value > 118 && value < 137) { - armOutVal += leftJSRelease; + armOutVal += leftJSRel; } else { @@ -276,7 +276,7 @@ void ProController::A(int value) { armOutVal = buttonA; } else if (value == 0) { ROS_INFO("A button released"); - armOutVal = buttonARel; + armOutVal = buttonRel; } } @@ -286,7 +286,7 @@ void ProController::B(int value) { armOutVal = buttonB; } else if (value == 0) { ROS_INFO("B button released"); - armOutVal = buttonBRel; + armOutVal = buttonRel; } } @@ -296,7 +296,7 @@ void ProController::X(int value) { armOutVal = buttonX; } else if (value == 0) { ROS_INFO("X button released"); - armOutVal = buttonXRel; + armOutVal = buttonRel; } } @@ -306,7 +306,7 @@ void ProController::Y(int value) { armOutVal = buttonY; } else if (value == 0) { ROS_INFO("Y button released"); - armOutVal = buttonYRel; + armOutVal = buttonRel; } } @@ -343,6 +343,7 @@ void ProController::start(int value) { ROS_INFO("Start button pressed"); } else if (value == 0) { ROS_INFO("Start button released"); + armOutVal = homeVal; } } diff --git a/src/teensy_pro_interface_package/include/teensyProInterface.h b/src/teensy_pro_interface_package/include/teensyProInterface.h new file mode 100644 index 000000000..690318a80 --- /dev/null +++ b/src/teensy_pro_interface_package/include/teensyProInterface.h @@ -0,0 +1,85 @@ +/* + * Created By: Tate Kolton and Ihsan Olawale + * Created On: July 4, 2022 + * Description: Header file for recieving messages from pro controller and relaying them to arm hardware driver module + */ + +#ifndef TEENSY_PRO_INTERFACE_MYNODE_H +#define TEENSY_PRO_INTERFACE_MYNODE_H + +// STD Includes +#include + +// ROS Includes +#include +#include +#include +#include + +// Snowbots Includes +#include + +// Hardware Driver Functions +#include "../../arm_hardware_driver/include/armHardwareDriver.h" + +class TeensyProInterface { + public: + TeensyProInterface(int argc, char** argv, std::string node_name); + void armCommandCallback(std::string inMsg); + void jointSpaceMove(int joystick, char dir); + void changeSpeed(char dir); + void changeAxis(char joystick); + void releaseAxis(char joystick); + void prepareDrilling(); + void collectSample(); + void depositSample(); + void manualDrill(char dir); + void endEffector(char dir); + void endEffectorRel(); + void homeArm(); + void sendMsg(std::string outMsg); + void recieveMsg(std::string inMsg); + void initCommunication(); + + + // character representations of buttons for arm communication + const char leftJSL = 'A'; + const char leftJSR = 'B'; + const char rightJSU = 'C'; + const char rightJSD = 'D'; + const char buttonA = 'E'; + const char buttonB = 'F'; + const char buttonX = 'G'; + const char buttonY = 'H'; + const char triggerL = 'I'; + const char triggerR = 'J'; + const char bumperL = 'K'; + const char bumperR = 'L'; + const char buttonRel = "M"; + const char triggerLRel = 'N'; + const char triggerRRel = 'O'; + const char bumperLRel = 'P'; + const char bumperRRel = 'Q'; + const char arrowL = 'R'; + const char arrowR = 'S'; + const char arrowU = 'T'; + const char arrowD = 'U'; + const char leftJSRel = "V"; + const char rightJSRel = "W"; + const char homeVal = "X"; + // arm modes + const char jointMode = "1"; + const char IKMode = "2"; + const char drillMode = "3"; + + //joystick direction characters + const char left = "L"; + const char right = "R"; + const char up = "U"; + const char down = "D"; + const char wrist = "W"; + + private: + ros::Subscriber subPro; +}; +#endif // TEENSY_PRO_INTERFACE_MYNODE_H diff --git a/src/teensy_pro_interface_package/src/teensyProInterface.cpp b/src/teensy_pro_interface_package/src/teensyProInterface.cpp new file mode 100644 index 000000000..8e42498a2 --- /dev/null +++ b/src/teensy_pro_interface_package/src/teensyProInterface.cpp @@ -0,0 +1,191 @@ +/* + * Created By: Tate Kolton + * Created On: July 4, 2022 + * Description: This package receives info from /cmd_arm topic and publishes serial data via callback to be recieved by the arm MCU (Teensy 4.1) + */ + +#include "../include/teensyProInterface.h" + +TeensyProInterface::TeensyProInterface(int argc, char** argv) { + + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // Setup Subscriber + subPro = nh.subscribe("/cmd_arm", 1, &TeensyProInterface::teensySerialCallback, this); +} + + +// Callback function to relay pro controller messages to teensy MCU on arm via rosserial +void TeensyProInterface::teensySerialCallback(std::string inMsg) { + parseInput(inMsg); +} + +void TeensyProInterface::parseInput(std::string inMsg) { + + char mode = inMsg.at(0); + + switch(mode) { + case jointMode: joint_space_motion(inMsg); break; + case IKMode: cartesian_motion(inMsg); break; + case drillMode: drill_motion(inMsg); break; + } +} + +// Sends joint space motion related commands to teensy +void TeensyProInterface::joint_space_motion(std::string inMsg) { + + ROS_INFO("Joint space command recieved"); + char action = inMsg.at(1); + + switch(action) { + case leftJSL: jointSpaceMove(left, left); break; + case leftJSR: jointSpaceMove(left, right); break; + case rightJSU: jointSpaceMove(right, up); break; + case rightJSD: jointSpaceMove(right, down); break; + case buttonA: jointSpaceMove(wrist, down); break; + case buttonB: jointSpaceMove(wrist, right); break; + case buttonX: jointSpaceMove(wrist, left); break; + case buttonY: jointSpaceMove(wrist, up); break; + case triggerL: changeAxis(horizantal_axes); break; + case triggerR: changeAxis(vertical_axes); break; + case leftJSRel: releaseAxis(left); break; + case rightJSRel: releaseAxis(right); break; + case buttonRel: releaseAxis(wrist); break; + case arrowU: changeSpeed(up); break; + case arrowD: changeSpeed(down); break; + case arrowL: endEffector(left); break; + case arrowR: endEffector(right); break; + case arrowRLRel: endEffectorRel(); break; + case homeVal: homeArm(); break; + } +} + +// Sends cartesian motion related commands to teensy +void TeensyProInterface::cartesian_motion(std::string inMsg) { + // to fill with arm_hardware_interface_implementation +} + +// Sends drilling mode related commands to teensy +void TeensyProInterface::drill_motion(std::string inMsg) { + + ROS_INFO("Drilling command recieved"); + char action = inMsg.at(1); + + switch(action) { + case buttonA: prepareDrilling(); break; + case buttonB: collectSample(); break; + case buttonX: depositSample(); break; + case triggerL: manualDrill(left); break; + case triggerR: manualDrill(right); break; + // below two lines to be implemented once cartesian mode is sorted + // case rightJSU: moveDrillUp(); break; + // case rightJSD: moveDrillDown(); break; + } +} + +void TeensyProInterface::jointSpaceMove(char joystick, char dir) +{ + std::string outMsg = "JM"; + outMsg += "M"; + outMsg += dir; + outMsg += joystick; + outMsg += "\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::changeSpeed(char dir) +{ + std::string outMsg = "JM"; + outMsg = "S"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::changeAxis(char joystick) +{ + std::string outMsg = "JM"; + outMsg += "A"; + outMsg += joystick; + outMsg += "\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::releaseAxis(char joystick) +{ + std::string outMsg = "JM"; + outMsg += "R"; + outMsg += joystick; + outMsg += "\n"; + sendMsg(outMsg); +} + +// End Effector Hardware Driver Functions +void TeensyProInterface::endEffector(char dir) +{ + std::string outMsg = "EE"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void TeensyProInterface:: endEffectorRel(char dir) +{ + std::string outmsg = "EEX\n"; + sendMsg(outMsg); +} + +// Drilling Mode Hardware Driver Functions +void TeensyProInterface::prepareDrilling() +{ + std::string outMsg = "DMP\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::collectSample() +{ + std::string outMsg = "DMC\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::depositSample() +{ + std::string outMsg = "DMD\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::manualDrill(char dir) +{ + std::string outMsg = "DM"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void TeensyProInterface::homeArm() { + std::string outMsg = "Z\n"; + sendMsg(outMsg); +} + + +// Serial Communication Protocols +// IHSAN TO FILL OUT ROSSERIAL IMPLEMENTATION + +void sendMsg(std::string outMsg) +{ + +} + +void recieveMsg(std::string inMsg) +{ + +} + +void initCommunication() +{ + +} + diff --git a/src/teensy_pro_interface_package/src/teensy_pro_interface.cpp b/src/teensy_pro_interface_package/src/teensy_pro_interface.cpp new file mode 100644 index 000000000..04839918f --- /dev/null +++ b/src/teensy_pro_interface_package/src/teensy_pro_interface.cpp @@ -0,0 +1,21 @@ +/* + * Created By: Tate Kolton + * Created On: July 4, 2022 + * Description: Node for recieving messages from pro controller and relaying them to arm hardware driver module + */ + +#include "../include/teensyProInterface.h" + +int main(int argc, char** argv) { + // Setup your ROS node + std::string node_name = "teensy_pro_interface"; + + // Create an instance of your class + TeensyProInterface teensyComm(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} From 348dc9eaa3eb3601d16c0ed50e0c3ab9c4f0af72 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 13 Jul 2022 16:51:04 -0700 Subject: [PATCH 011/124] teensy driver and firmware progress --- .../include/armHardwareDriver.h | 91 +++ .../src/armHardwareDriver.cpp | 252 +++++++ .../src/arm_hardware_driver.cpp} | 6 +- src/arm_hardware_interface/CMakeLists.txt | 213 ------ .../include/ArmHardwareInterface.h | 40 -- src/arm_hardware_interface/package.xml | 59 -- .../src/ArmHardwareInterface.cpp | 36 - .../src/arm_hardware_interface.cpp | 24 - .../include/ProController.h | 33 +- .../src/ProController.cpp | 15 +- src/teensy-firmware/src/armFirmware.ino | 617 ++++++++++++++++++ .../include/teensyProInterface.h | 85 --- .../src/teensyProInterface.cpp | 191 ------ 13 files changed, 990 insertions(+), 672 deletions(-) create mode 100644 src/arm_hardware_driver/include/armHardwareDriver.h create mode 100644 src/arm_hardware_driver/src/armHardwareDriver.cpp rename src/{teensy_pro_interface_package/src/teensy_pro_interface.cpp => arm_hardware_driver/src/arm_hardware_driver.cpp} (73%) delete mode 100644 src/arm_hardware_interface/CMakeLists.txt delete mode 100644 src/arm_hardware_interface/include/ArmHardwareInterface.h delete mode 100644 src/arm_hardware_interface/package.xml delete mode 100644 src/arm_hardware_interface/src/ArmHardwareInterface.cpp delete mode 100644 src/arm_hardware_interface/src/arm_hardware_interface.cpp create mode 100644 src/teensy-firmware/src/armFirmware.ino delete mode 100644 src/teensy_pro_interface_package/include/teensyProInterface.h delete mode 100644 src/teensy_pro_interface_package/src/teensyProInterface.cpp diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h new file mode 100644 index 000000000..4e988e9c1 --- /dev/null +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -0,0 +1,91 @@ +/* + * Created By: Tate Kolton and Ihsan Olawale + * Created On: July 4, 2022 + * Description: Header file for recieving messages from pro controller and relaying them to arm hardware driver module + */ + +#ifndef ARM_HARDWARE_DRIVER_MYNODE_H +#define ARM_HARDWARE_DRIVER_MYNODE_H + +// STD Includes +#include + +// ROS Includes +#include +#include +#include +#include + +// Snowbots Includes +#include + +class ArmHardwareDriver { + public: + ArmHardwareDriver(int argc, char** argv, std::string node_name); + void teensySerialCallback(std_msgs::String& inMsg); + void parseInput(std::string inMsg); + void joint_space_motion(std::string inMsg); + void drill_motion(std::string inMsg); + void jointSpaceMove(const char joystick, const char dir); + void changeSpeed(const char dir); + void changeAxis(const char joystick); + void releaseAxis(const char joystick); + void endEffector(const char dir); + void endEffectorRel(const char dir); + void prepareDrilling(); + void collectSample(); + void depositSample(); + void manualDrill(const char dir); + void homeArm(); + void cartesian_motion(std::vector& pos_commands, std::vector& joint_positions); + void updateEncoderSteps(std::string msg); + void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); + void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); + void sendMsg(std::string outMsg); + void recieveMsg(std::string& inMsg); + + // character representations of buttons for arm communication + const char leftJSL = 'A'; + const char leftJSR = 'B'; + const char rightJSU = 'C'; + const char rightJSD = 'D'; + const char buttonA = 'E'; + const char buttonB = 'F'; + const char buttonX = 'G'; + const char buttonY = 'H'; + const char triggerL = 'I'; + const char triggerR = 'J'; + const char bumperL = 'K'; + const char bumperR = 'L'; + const char buttonARel = 'M'; + const char buttonBRel = 'N'; + const char buttonXRel = 'O'; + const char buttonYRel = 'P'; + const char triggerLRel = 'Q'; + const char triggerRRel = 'R'; + const char bumperLRel = 'S'; + const char bumperRRel = 'T'; + const char arrowL = 'U'; + const char arrowR = 'V'; + const char arrowU = 'W'; + const char arrowD = 'X'; + const char leftJSRel = 'Y'; + const char rightJSRel = 'Z'; + const char homeVal = '4'; + // arm modes + const char jointMode = '1'; + const char IKMode = '2'; + const char drillMode = '3'; + + //joystick direction characters + const char left = 'L'; + const char right = 'R'; + const char up = 'U'; + const char down = 'D'; + const char wrist = 'W'; + const char garbage = 'G'; + + private: + ros::Subscriber subPro; +}; +#endif // ARM_HARDWARE_DRIVER_MYNODE_H diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp new file mode 100644 index 000000000..9d274897b --- /dev/null +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -0,0 +1,252 @@ +/* + * Created By: Tate Kolton + * Created On: July 4, 2022 + * Description: This package receives info from /cmd_arm topic and publishes serial data via callback to be recieved by the arm MCU (Teensy 4.1) + */ + + +#include "../include/armHardwareDriver.h" + +ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv) { + + // Setup NodeHandles + std::string node_name = "TeensyDriver"; + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // Setup Subscriber + subPro = nh.subscribe("/cmd_arm", 1, ArmHardwareDriver::teensySerialCallback, this); +} + + +// Callback function to relay pro controller messages to teensy MCU on arm via rosserial +void ArmHardwareDriver::teensySerialCallback(std_msgs::String& inMsg) { + parseInput(inMsg.data); +} + +void ArmHardwareDriver::parseInput(std::string inMsg) { + + char mode = inMsg[0]; + + switch(mode) { + case jointMode: joint_space_motion(inMsg); break; + case IKMode: cartesian_motion(inMsg); break; + case drillMode: drill_motion(inMsg); break; + } +} + +// Sends joint space motion related commands to teensy +void ArmHardwareDriver::joint_space_motion(std::string inMsg) { + + ROS_INFO("Joint space command recieved"); + char action = inMsg.at(1); + + switch(action) { + case leftJSL: jointSpaceMove(left, left); break; + case leftJSR: jointSpaceMove(left, right); break; + case rightJSU: jointSpaceMove(right, up); break; + case rightJSD: jointSpaceMove(right, down); break; + case buttonA: jointSpaceMove(wrist, down); break; + case buttonB: jointSpaceMove(wrist, right); break; + case buttonX: jointSpaceMove(wrist, left); break; + case buttonY: jointSpaceMove(wrist, up); break; + case triggerL: changeAxis(down); break; + case triggerR: changeAxis(up); break; + case leftJSRel: releaseAxis(left, garbage); break; + case rightJSRel: releaseAxis(right, garbage); break; + case buttonARel: releaseAxis(wrist, right); break; + case buttonBRel: releaseAxis(wrist, down); break; + case buttonXRel: releaseAxis(wrist, up); break; + case buttonYRel: releaseAxis(wrist, left); break; + case arrowU: changeSpeed(up); break; + case arrowD: changeSpeed(down); break; + case arrowL: endEffector(left); break; + case arrowR: endEffector(right); break; + case arrowRLRel: endEffectorRel(); break; + case homeVal: homeArm(); break; + } +} + +// Sends drilling mode related commands to teensy +void ArmHardwareDriver::drill_motion(std::string inMsg) { + + ROS_INFO("Drilling command recieved"); + char action = inMsg.at(1); + + switch(action) { + case buttonA: prepareDrilling(); break; + case buttonB: collectSample(); break; + case buttonX: depositSample(); break; + case triggerL: manualDrill(left); break; + case triggerR: manualDrill(right); break; + // below two lines to be implemented once cartesian mode is sorted + // case rightJSU: moveDrillUp(); break; + // case rightJSD: moveDrillDown(); break; + } +} + +void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) +{ + std::string outMsg = "JM"; + outMsg += "M"; + outMsg += dir; + outMsg += joystick; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::changeSpeed(const char dir) +{ + std::string outMsg = "JM"; + outMsg = "S"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::changeAxis(const char joystick) +{ + std::string outMsg = "JM"; + outMsg += "A"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::releaseAxis(const char joystick) +{ + std::string outMsg = "JM"; + outMsg += "R"; + outMsg += joystick; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +// End Effector Hardware Driver Functions +void ArmHardwareDriver::endEffector(const char dir) +{ + std::string outMsg = "EE"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver:: endEffectorRel(const char dir) +{ + std::string outmsg = "EEX\n"; + sendMsg(outMsg); +} + +// Drilling Mode Hardware Driver Functions +void ArmHardwareDriver::prepareDrilling() +{ + std::string outMsg = "DMP\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::collectSample() +{ + std::string outMsg = "DMC\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::depositSample() +{ + std::string outMsg = "DMD\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::manualDrill(const char dir) +{ + std::string outMsg = "DM"; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::homeArm() { + std::string outMsg = "HM\n"; + sendMsg(outMsg); +} + + +// ROS SERIAL COMMUNICATION APIs // + +void TeensyDriver::cartesian_motion(std::vector& pos_commands, std::vector& joint_positions) +{ + std::string inMsg = ""; + // convert angles to encoder steps for teensy + jointPosToEncSteps(pos_commands, enc_commands_); + + // construct update message + std::string outMsg = "MT"; + for (int i = 0; i < num_joints_; ++i) + { + outMsg += 'A' + i; + outMsg += std::to_string(enc_commands_[i]); + } + outMsg += "\n"; + + // run the communication with board + sendMsg(outMsg); + + // get feedback from arm + recieveMsg(inMsg); + ROS_INFO("Recieved Arm Current Position"); + updateEncoderSteps(inMsg); + + // convert from encoder steps to angles + encStepsToJointPos(enc_steps_ , joint_positions); +} + + +void TeensyDriver::updateEncoderSteps(std::string msg) +{ + size_t idx1 = msg.find("A", 2) + 1; + size_t idx2 = msg.find("B", 2) + 1; + size_t idx3 = msg.find("C", 2) + 1; + size_t idx4 = msg.find("D", 2) + 1; + size_t idx5 = msg.find("E", 2) + 1; + size_t idx6 = msg.find("F", 2) + 1; + enc_steps_[0] = std::stoi(msg.substr(idx1, idx2 - idx1)); + enc_steps_[1] = std::stoi(msg.substr(idx2, idx3 - idx2)); + enc_steps_[2] = std::stoi(msg.substr(idx3, idx4 - idx3)); + enc_steps_[3] = std::stoi(msg.substr(idx4, idx5 - idx4)); + enc_steps_[4] = std::stoi(msg.substr(idx5, idx6 - idx5)); + enc_steps_[5] = std::stoi(msg.substr(idx6)); +} + +void TeensyDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions) +{ + for (int i = 0; i < enc_steps.size(); ++i) + { + // convert enc steps to joint deg + joint_positions[i] = static_cast(enc_steps[i]) / enc_steps_per_deg_[i]; + } +} + +void TeensyDriver::jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps) +{ + for (int i = 0; i < joint_positions.size(); ++i) + { + // convert joint deg to enc steps + enc_steps[i] = static_cast(joint_positions[i] * enc_steps_per_deg_[i]); + } +} + + +// Libserial Implementation + +sendMsg(std::string outMsg) +{ + // Send everything in outMsg through serial port +} + +recieveMsg(std::string& inMsg) +{ + // Ihsan to fill with libserial implementation + // fill inMsg string with whatever comes through serial port until \n +} + diff --git a/src/teensy_pro_interface_package/src/teensy_pro_interface.cpp b/src/arm_hardware_driver/src/arm_hardware_driver.cpp similarity index 73% rename from src/teensy_pro_interface_package/src/teensy_pro_interface.cpp rename to src/arm_hardware_driver/src/arm_hardware_driver.cpp index 04839918f..28cbd87f4 100644 --- a/src/teensy_pro_interface_package/src/teensy_pro_interface.cpp +++ b/src/arm_hardware_driver/src/arm_hardware_driver.cpp @@ -4,14 +4,14 @@ * Description: Node for recieving messages from pro controller and relaying them to arm hardware driver module */ -#include "../include/teensyProInterface.h" +#include "../include/armHardwareDriver.h" int main(int argc, char** argv) { // Setup your ROS node - std::string node_name = "teensy_pro_interface"; + std::string node_name = "arm_hardware_driver"; // Create an instance of your class - TeensyProInterface teensyComm(argc, argv, node_name); + ArmHardwareDriver teensyComm(argc, argv, node_name); // Start up ros. This will continue to run until the node is killed ros::spin(); diff --git a/src/arm_hardware_interface/CMakeLists.txt b/src/arm_hardware_interface/CMakeLists.txt deleted file mode 100644 index df4cdff51..000000000 --- a/src/arm_hardware_interface/CMakeLists.txt +++ /dev/null @@ -1,213 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(arm_hardware_interface) - -# Build in "Release" (with lots of compiler optimizations) by default -# (If built in "Debug", some functions can take orders of magnitude longer) -if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) - set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") -endif() - -add_definitions(-std=c++14) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs -) -find_package(sb_utils REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS include -# LIBRARIES sample_package -# CATKIN_DEPENDS roscpp std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} - ${sb_utils_INCLUDE_DIRS} - ./include -) - -## Declare a C++ library -# add_library(sample_package -# src/${PROJECT_NAME}/sample_package.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(sample_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -# add_executable(sample_package_node src/sample_package_node.cpp) -add_executable(arm_hardware_interface src/arm_hardware_interface.cpp src/ArmHardwareInterface.cpp include/ArmHardwareInterface.h) - - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(sample_package_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(sample_package_node -# ${catkin_LIBRARIES} -# ) -target_link_libraries(arm_hardware_interface ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS sample_package sample_package_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() -#if (CATKIN_ENABLE_TESTING) -# -# # Adding gtests to the package -# catkin_add_gtest(my-node-test test/my-node-test.cpp src/MyNode.cpp) -# target_link_libraries(my-node-test ${catkin_LIBRARIES}) -# -# # Adding rostest to the package -# find_package(rostest REQUIRED) -# # name the test and link it to the .test file and the .cpp file itself, this will allow -# # "catkin_make run_tests" to be able to find and run this rostest -# add_rostest_gtest(my_node_rostest test/sample_package_test.test test/my_node_rostest.cpp) -# target_link_libraries(my_node_rostest ${catkin_LIBRARIES}) -#endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/arm_hardware_interface/include/ArmHardwareInterface.h b/src/arm_hardware_interface/include/ArmHardwareInterface.h deleted file mode 100644 index 0f5086f7a..000000000 --- a/src/arm_hardware_interface/include/ArmHardwareInterface.h +++ /dev/null @@ -1,40 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: June 28th, 2022 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#ifndef ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H -#define ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H - -// STD Includes -#include - -// ROS Includes -#include -#include -#include - -// Snowbots Includes -#include - -class ArmHardwareInterface : public hardware_interface::RobotHW { -public: - ArmHardwareInterface(int argc, char **argv, std::string node_name); - void read(const ros::Time& time, const ros::Duration& period); - void write(const ros::Time& time, const ros::Duration& period); - -private: - hardware_interface::JointStateInterface joint_state_interface; - hardware_interface::PositionJointInterface position_state_interface; - std::vector commands; - std::vector velocities; - std::vector positions; - std::vector efforts; - std::vector joint_state_handles; - std::vector joint_handles; - int num_joints; -}; -#endif //ARM_HARDWARE_INTERFACE_ARMHARDWAREINTERFACE_H diff --git a/src/arm_hardware_interface/package.xml b/src/arm_hardware_interface/package.xml deleted file mode 100644 index 746279afb..000000000 --- a/src/arm_hardware_interface/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - arm_hardware_interface - 0.0.0 - The arm_hardware_interface package - - - - - gareth - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - std_msgs - sb_utils - hardware_interface - roscpp - std_msgs - sb_utils - hardware_interface - ros_controllers - - - - - - - - diff --git a/src/arm_hardware_interface/src/ArmHardwareInterface.cpp b/src/arm_hardware_interface/src/ArmHardwareInterface.cpp deleted file mode 100644 index cf183ccd9..000000000 --- a/src/arm_hardware_interface/src/ArmHardwareInterface.cpp +++ /dev/null @@ -1,36 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: June 28th, 2022 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#include - -ArmHardwareInterface::ArmHardwareInterface(int argc, char **argv, std::string node_name) { - // Setup NodeHandles - ros::init(argc, argv, node_name); - ros::NodeHandle private_nh("~"); - SB_getParam(private_nh, "num_joints", num_joints, 7); - - commands.resize(num_joints); - velocities.resize(num_joints); - positions.resize(num_joints); - efforts.resize(num_joints); - for (int i = 0; i < num_joints; ++i) { - hardware_interface::JointStateHandle state_handle(""+i, &positions[i], &velocities[i], &commands[i]); - joint_state_interface.registerHandle(state_handle); - - hardware_interface::JointHandle position_handle(joint_state_interface.getHandle(""+i), &commands[0]); - position_state_interface.registerHandle(position_handle); - } - registerInterface(&joint_state_interface); - registerInterface(&position_state_interface); -} - -void ArmHardwareInterface::read(const ros::Time& time, const ros::Duration& period) { -} - -void ArmHardwareInterface::write(const ros::Time& time, const ros::Duration& period) { -} diff --git a/src/arm_hardware_interface/src/arm_hardware_interface.cpp b/src/arm_hardware_interface/src/arm_hardware_interface.cpp deleted file mode 100644 index 64f4c724a..000000000 --- a/src/arm_hardware_interface/src/arm_hardware_interface.cpp +++ /dev/null @@ -1,24 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: July 3rd, 2022 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#include - - -int main(int argc, char **argv){ - // Setup your ROS node - std::string node_name = "arm_hardware_interface"; - - // Create an instance of your class - ArmHardwareInterface arm_hardware_interface(argc, argv, node_name); - - // Start up ros. This will continue to run until the node is killed - ros::spin(); - - // Once the node stops, return 0 - return 0; -} diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 9713feb6a..d6419ccfc 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -45,8 +45,8 @@ class ProController { void leftJoystickPress(int value); // BTN_THUMBL void rightJoystickPress(int value); // BTN_THUMBR tuple - publishMoveXZ(double x_new, double z_new, double x_old, double z_old); - void publishArmXZ(double x_new, double z_new, double x_old, double z_old); + void publishMoveXZ(double x_new, double z_new, double x_old, double z_old); + void publishArmMessage(std::string outMsg); void printState(); void printControllerDebug(int type, int code, int value); // see documentation to changes sensitivities at runtime @@ -55,7 +55,7 @@ class ProController { double x; double z; std::string armOutMsg, armOutVal; - // character representations of buttons for arm communication +// character representations of buttons for arm communication const char leftJSL = 'A'; const char leftJSR = 'B'; const char rightJSU = 'C'; @@ -68,18 +68,21 @@ class ProController { const char triggerR = 'J'; const char bumperL = 'K'; const char bumperR = 'L'; - const char buttonRel = "M"; - const char triggerLRel = 'N'; - const char triggerRRel = 'O'; - const char bumperLRel = 'P'; - const char bumperRRel = 'Q'; - const char arrowL = 'R'; - const char arrowR = 'S'; - const char arrowU = 'T'; - const char arrowD = 'U'; - const char leftJSRel = "V"; - const char rightJSRel = "W"; - const char homeVal = "X"; + const char buttonARel = "M"; + const char buttonBRel = "N"; + const char buttonXRel = "O"; + const char buttonYRel = "P"; + const char triggerLRel = 'Q'; + const char triggerRRel = 'R'; + const char bumperLRel = 'S'; + const char bumperRRel = 'T'; + const char arrowL = 'U'; + const char arrowR = 'V'; + const char arrowU = 'W'; + const char arrowD = 'X'; + const char leftJSRel = "Y"; + const char rightJSRel = "Z"; + const char homeVal = "4"; // arm modes const char jointMode = "1"; const char IKMode = "2"; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 1dcc16bb5..00527b350 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -24,7 +24,8 @@ ProController::ProController(int argc, char** argv, string node_name) { ROS_INFO("Debug mode %s", (debug) ? "on" : "off"); } pubmove = private_nh.advertise(publisher, 1); - pubarm = private_nh.advertise(armPublisher, 1); + pubarm = private_nh.advertise(armPublisher, 1); + ROS_INFO("Preparing to read inputs...\n"); state = Mode::wheels; printState(); @@ -182,8 +183,10 @@ tuple ProController::publishMoveXZ(double x_new, // If controller recieves new commands and is in an arm mode, send message to arm void publishArmMessage(std::string outMsg) { + std_msgs::String outMsgWrapper; outMsg += '\n'; - pubarm.publish(outMsg); + outMsgWrapper.data = outMsg; + pubarm.publish(outMsgWrapper); } // Updates z, which is then published by publish___XZ in readInputs() @@ -276,7 +279,7 @@ void ProController::A(int value) { armOutVal = buttonA; } else if (value == 0) { ROS_INFO("A button released"); - armOutVal = buttonRel; + armOutVal = buttonARel; } } @@ -286,7 +289,7 @@ void ProController::B(int value) { armOutVal = buttonB; } else if (value == 0) { ROS_INFO("B button released"); - armOutVal = buttonRel; + armOutVal = buttonBRel; } } @@ -296,7 +299,7 @@ void ProController::X(int value) { armOutVal = buttonX; } else if (value == 0) { ROS_INFO("X button released"); - armOutVal = buttonRel; + armOutVal = buttonXRel; } } @@ -306,7 +309,7 @@ void ProController::Y(int value) { armOutVal = buttonY; } else if (value == 0) { ROS_INFO("Y button released"); - armOutVal = buttonRel; + armOutVal = buttonYRel; } } diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.ino new file mode 100644 index 000000000..fdbfb428e --- /dev/null +++ b/src/teensy-firmware/src/armFirmware.ino @@ -0,0 +1,617 @@ +/* +Created By: Tate Kolton, Rowan Zawadzki +Created On: December 21, 2021 +Updated: April 27, 2022 +Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU +*/ + +#include + +// general parameters +#define NUM_AXES 6 +#define NUM_AXES_EX_WRIST 4 +#define NUM_AXES_EFF 8 +#define NUM_PARAMS 7 +#define ON 0 +#define OFF 1 +#define SW_ON 0 +#define SW_OFF 1 +#define FWD 1 +#define REV 0 + +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; + +static const char release = 'R'; +static const char move = 'M'; +static const char change = 'A'; +static const char speed = 'S'; +static const char right = 'R'; +static const char left = 'L'; +static const char up = 'U'; +static const char down = 'D'; +static const char wrist = 'W'; + +int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; +int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; + +// limit switch pins +int limPins[6] = {23, 22, 20, 21, 18, 19}; + +// pulses per revolution for motors +long ppr[6] = {400, 400, 400, 400, 400, 400}; + +// Gear Reduction Ratios +float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34}; + +// Encoder pulses per revolution +long pprEnc = 512; + +// Motor speeds and accelerations +int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; +int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; +int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; + +// Range of motion (degrees) for each axis +int maxAngles[6] = {180, 70, 180, 120, 140, 100}; + +const unsigned long readInterval = 10; +unsigned long currentTime; +unsigned long previousTime = 0; + +// stepper motor objects for AccelStepper library +AccelStepper steppers[8]; + +// variable declarations +long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; +int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; +int currentAxis = 1; +int runFlags[] = {0, 0, 0, 0, 0, 0}; +int i; +char garbage; +bool initFlag = false; + +// variables for homing / arm calibration +long homePosConst = -99000; +long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; +long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500}; +long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; +long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; +char value; + +// values for changing speed +const int maxSpeedIndex = 2; +int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; +int speedIndex = maxSpeedIndex; +char faster = 'U'; +char slower = 'D'; + + +void setup() { // setup function to initialize pins and provide initial homing to the arm + + Serial.begin(9600); + + // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library + for(i = 0; i readInterval) { + commandArm() + previousTime = currentTime; + } + + runSteppers(); +} + +void commandArm() +{ + String inData = ""; + char recieved = ""; + if(Serial.available()) + { + do { + recieved = Serial.read(); + inData += recieved; + } while(recieved != '\n'); + } + + if(recieved == '\n') + { + parseMessage(inData); + } +} + +void parseMessage(String inMsg) +{ + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } + + else if(function == "JM") + { + jointCommands(inMsg); + } + + else if(function == "EE") + { + endEffectorCommands(inMsg); + } + + else if(function == "DM") + { + drillCommands(inMsg); + } + + else if(function == "HM") + { + homeArm(); + } +} + +//****//CARTESIAN MODE FUNCTIONS//****// + +void cartesianCommands() +{ + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(msg); + + // get new position commands + int msgIdxJ1 = inData.indexOf('A'); + int msgIdxJ2 = inData.indexOf('B'); + int msgIdxJ3 = inData.indexOf('C'); + int msgIdxJ4 = inData.indexOf('D'); + int msgIdxJ5 = inData.indexOf('E'); + int msgIdxJ6 = inData.indexOf('F'); + cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + stepperJoints[i].move(diffMotSteps); + } + } +} + +// parses which commands to execute when in joint space mode +void jointCommands(String inMsg) +{ + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} + +// Sets movement target positions when in joint space mode +void jointMovement(char joystick, char dir) +{ + if(joystick == wrist) + { + switch(dir) + { + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; + } + } + + else if(joystick == left) + { + switch(dir) + { + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; + } + } + + else + { + switch(dir) + { + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; + } + } +} + +//****//ENCODER RELATED FUNCTIONS//****// + +void readEncPos(int* encPos) +{ + encPos[0] = J1encPos.read() * ENC_DIR[0]; + encPos[1] = J2encPos.read() * ENC_DIR[1]; + encPos[2] = J3encPos.read() * ENC_DIR[2]; + encPos[3] = J4encPos.read() * ENC_DIR[3]; + encPos[4] = J5encPos.read() * ENC_DIR[4]; + encPos[5] = J6encPos.read() * ENC_DIR[5]; +} + +//****//JOINT SPACE MODE FUNCTIONS//****// + +// sets target position for axes in joint space mode +void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position + + if(axis == 3) { + dir = !dir; + } + + if(runFlags[axis-1] == 1 && dir == FWD) { + } + + else if(runFlags[axis-1] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); + runFlags[axis-1] = 1; + } + + else { + steppers[axis-1].moveTo(0); + runFlags[axis-1] = -1; + } +} + +void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. + + if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions + if(runFlags[5] == 1 && dir == FWD) { + } + + else if(runFlags[5] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[6].moveTo(axisDir[6]*max_steps[5]); + steppers[7].moveTo(axisDir[7]*max_steps[5]); + runFlags[5] = 1; + } + + else { + steppers[6].moveTo(0); + steppers[7].moveTo(0); + runFlags[5] = -1; + } + } + + else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction + dir = !dir; + if(runFlags[4] == 1 && dir == FWD) { + } + + else if(runFlags[4] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[4].moveTo(axisDir[4]*max_steps[4]); + steppers[5].moveTo(axisDir[5]*max_steps[4]); + runFlags[4] = 1; + } + + else { + steppers[4].moveTo(0); + steppers[5].moveTo(0); + runFlags[4] = -1; + } + } +} + +void changeAxis(int dir) { // when user hits specified button, axis targets change + + if((dir == up) && (currentAxis == 1)) + { + currentAxis = 3; + zeroRunFlags(); + } + + else if((dir == down) && (currentAxis == 3)) + { + currentAxis = 1; + zeroRunFlags(); + } +} + +void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character + + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) + { + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; + } + + else + { + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; + } + } + + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } +} + +void changeSpeed(char speedVal) { // changes speed of all axes based on user input + + if(speedVal == faster){ + if(speedIndex < maxSpeedIndex) { + speedIndex++; + for(i=0;i 0) { + speedIndex--; + for(i=0;i - -// ROS Includes -#include -#include -#include -#include - -// Snowbots Includes -#include - -// Hardware Driver Functions -#include "../../arm_hardware_driver/include/armHardwareDriver.h" - -class TeensyProInterface { - public: - TeensyProInterface(int argc, char** argv, std::string node_name); - void armCommandCallback(std::string inMsg); - void jointSpaceMove(int joystick, char dir); - void changeSpeed(char dir); - void changeAxis(char joystick); - void releaseAxis(char joystick); - void prepareDrilling(); - void collectSample(); - void depositSample(); - void manualDrill(char dir); - void endEffector(char dir); - void endEffectorRel(); - void homeArm(); - void sendMsg(std::string outMsg); - void recieveMsg(std::string inMsg); - void initCommunication(); - - - // character representations of buttons for arm communication - const char leftJSL = 'A'; - const char leftJSR = 'B'; - const char rightJSU = 'C'; - const char rightJSD = 'D'; - const char buttonA = 'E'; - const char buttonB = 'F'; - const char buttonX = 'G'; - const char buttonY = 'H'; - const char triggerL = 'I'; - const char triggerR = 'J'; - const char bumperL = 'K'; - const char bumperR = 'L'; - const char buttonRel = "M"; - const char triggerLRel = 'N'; - const char triggerRRel = 'O'; - const char bumperLRel = 'P'; - const char bumperRRel = 'Q'; - const char arrowL = 'R'; - const char arrowR = 'S'; - const char arrowU = 'T'; - const char arrowD = 'U'; - const char leftJSRel = "V"; - const char rightJSRel = "W"; - const char homeVal = "X"; - // arm modes - const char jointMode = "1"; - const char IKMode = "2"; - const char drillMode = "3"; - - //joystick direction characters - const char left = "L"; - const char right = "R"; - const char up = "U"; - const char down = "D"; - const char wrist = "W"; - - private: - ros::Subscriber subPro; -}; -#endif // TEENSY_PRO_INTERFACE_MYNODE_H diff --git a/src/teensy_pro_interface_package/src/teensyProInterface.cpp b/src/teensy_pro_interface_package/src/teensyProInterface.cpp deleted file mode 100644 index 8e42498a2..000000000 --- a/src/teensy_pro_interface_package/src/teensyProInterface.cpp +++ /dev/null @@ -1,191 +0,0 @@ -/* - * Created By: Tate Kolton - * Created On: July 4, 2022 - * Description: This package receives info from /cmd_arm topic and publishes serial data via callback to be recieved by the arm MCU (Teensy 4.1) - */ - -#include "../include/teensyProInterface.h" - -TeensyProInterface::TeensyProInterface(int argc, char** argv) { - - // Setup NodeHandles - ros::init(argc, argv, node_name); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - - // Setup Subscriber - subPro = nh.subscribe("/cmd_arm", 1, &TeensyProInterface::teensySerialCallback, this); -} - - -// Callback function to relay pro controller messages to teensy MCU on arm via rosserial -void TeensyProInterface::teensySerialCallback(std::string inMsg) { - parseInput(inMsg); -} - -void TeensyProInterface::parseInput(std::string inMsg) { - - char mode = inMsg.at(0); - - switch(mode) { - case jointMode: joint_space_motion(inMsg); break; - case IKMode: cartesian_motion(inMsg); break; - case drillMode: drill_motion(inMsg); break; - } -} - -// Sends joint space motion related commands to teensy -void TeensyProInterface::joint_space_motion(std::string inMsg) { - - ROS_INFO("Joint space command recieved"); - char action = inMsg.at(1); - - switch(action) { - case leftJSL: jointSpaceMove(left, left); break; - case leftJSR: jointSpaceMove(left, right); break; - case rightJSU: jointSpaceMove(right, up); break; - case rightJSD: jointSpaceMove(right, down); break; - case buttonA: jointSpaceMove(wrist, down); break; - case buttonB: jointSpaceMove(wrist, right); break; - case buttonX: jointSpaceMove(wrist, left); break; - case buttonY: jointSpaceMove(wrist, up); break; - case triggerL: changeAxis(horizantal_axes); break; - case triggerR: changeAxis(vertical_axes); break; - case leftJSRel: releaseAxis(left); break; - case rightJSRel: releaseAxis(right); break; - case buttonRel: releaseAxis(wrist); break; - case arrowU: changeSpeed(up); break; - case arrowD: changeSpeed(down); break; - case arrowL: endEffector(left); break; - case arrowR: endEffector(right); break; - case arrowRLRel: endEffectorRel(); break; - case homeVal: homeArm(); break; - } -} - -// Sends cartesian motion related commands to teensy -void TeensyProInterface::cartesian_motion(std::string inMsg) { - // to fill with arm_hardware_interface_implementation -} - -// Sends drilling mode related commands to teensy -void TeensyProInterface::drill_motion(std::string inMsg) { - - ROS_INFO("Drilling command recieved"); - char action = inMsg.at(1); - - switch(action) { - case buttonA: prepareDrilling(); break; - case buttonB: collectSample(); break; - case buttonX: depositSample(); break; - case triggerL: manualDrill(left); break; - case triggerR: manualDrill(right); break; - // below two lines to be implemented once cartesian mode is sorted - // case rightJSU: moveDrillUp(); break; - // case rightJSD: moveDrillDown(); break; - } -} - -void TeensyProInterface::jointSpaceMove(char joystick, char dir) -{ - std::string outMsg = "JM"; - outMsg += "M"; - outMsg += dir; - outMsg += joystick; - outMsg += "\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::changeSpeed(char dir) -{ - std::string outMsg = "JM"; - outMsg = "S"; - outMsg += dir; - outMsg += "\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::changeAxis(char joystick) -{ - std::string outMsg = "JM"; - outMsg += "A"; - outMsg += joystick; - outMsg += "\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::releaseAxis(char joystick) -{ - std::string outMsg = "JM"; - outMsg += "R"; - outMsg += joystick; - outMsg += "\n"; - sendMsg(outMsg); -} - -// End Effector Hardware Driver Functions -void TeensyProInterface::endEffector(char dir) -{ - std::string outMsg = "EE"; - outMsg += dir; - outMsg += "\n"; - sendMsg(outMsg); -} - -void TeensyProInterface:: endEffectorRel(char dir) -{ - std::string outmsg = "EEX\n"; - sendMsg(outMsg); -} - -// Drilling Mode Hardware Driver Functions -void TeensyProInterface::prepareDrilling() -{ - std::string outMsg = "DMP\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::collectSample() -{ - std::string outMsg = "DMC\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::depositSample() -{ - std::string outMsg = "DMD\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::manualDrill(char dir) -{ - std::string outMsg = "DM"; - outMsg += dir; - outMsg += "\n"; - sendMsg(outMsg); -} - -void TeensyProInterface::homeArm() { - std::string outMsg = "Z\n"; - sendMsg(outMsg); -} - - -// Serial Communication Protocols -// IHSAN TO FILL OUT ROSSERIAL IMPLEMENTATION - -void sendMsg(std::string outMsg) -{ - -} - -void recieveMsg(std::string inMsg) -{ - -} - -void initCommunication() -{ - -} - From b8c52e4260bee10f24a7aae223fb3b60b8537de6 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Wed, 13 Jul 2022 17:43:10 -0700 Subject: [PATCH 012/124] Add libserial code to arm_hardware_driver node --- .../include/armHardwareDriver.h | 10 ++++++++++ .../src/armHardwareDriver.cpp | 16 +++++++++++++++- 2 files changed, 25 insertions(+), 1 deletion(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 4e988e9c1..f3118c957 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -9,6 +9,7 @@ // STD Includes #include +#include // ROS Includes #include @@ -19,6 +20,9 @@ // Snowbots Includes #include +// Other +#include + class ArmHardwareDriver { public: ArmHardwareDriver(int argc, char** argv, std::string node_name); @@ -87,5 +91,11 @@ class ArmHardwareDriver { private: ros::Subscriber subPro; + + // The SerialStream to/from the teensy + LibSerial::SerialStream teensy; + + // The Port the teensy is connected to + std::string port; }; #endif // ARM_HARDWARE_DRIVER_MYNODE_H diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 9d274897b..c8fc27f26 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -17,6 +17,13 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv) { // Setup Subscriber subPro = nh.subscribe("/cmd_arm", 1, ArmHardwareDriver::teensySerialCallback, this); + + // Get Params + SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); + // Open the given serial port + teensy.Open(port); + teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); + teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); } @@ -242,11 +249,18 @@ void TeensyDriver::jointPosToEncSteps(std::vector& joint_positions, std: sendMsg(std::string outMsg) { // Send everything in outMsg through serial port + teensy << outMsg; } recieveMsg(std::string& inMsg) { - // Ihsan to fill with libserial implementation // fill inMsg string with whatever comes through serial port until \n + std::stringstream buffer; + char next_char; + do { + teensy >> next_char; + buffer << next_char; + } while (next_char != '\n'); + inMsg = buffer.str(); } From bb780dccafdd2e45f5410ba2ea9cc38f60eaeb76 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Wed, 13 Jul 2022 18:25:58 -0700 Subject: [PATCH 013/124] Add CmakeLists and package.xml --- src/arm_hardware_driver/CMakeLists.txt | 213 ++++++++++++++++++ src/arm_hardware_driver/package.xml | 56 +++++ .../src/armHardwareDriver.cpp | 15 +- 3 files changed, 276 insertions(+), 8 deletions(-) create mode 100644 src/arm_hardware_driver/CMakeLists.txt create mode 100644 src/arm_hardware_driver/package.xml diff --git a/src/arm_hardware_driver/CMakeLists.txt b/src/arm_hardware_driver/CMakeLists.txt new file mode 100644 index 000000000..7e8c06aa4 --- /dev/null +++ b/src/arm_hardware_driver/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arm_hardware_driver) + +# Build in "Release" (with lots of compiler optimizations) by default +# (If built in "Debug", some functions can take orders of magnitude longer) +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") +endif() + +add_definitions(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs +) +find_package(sb_utils REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES sample_package +# CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${sb_utils_INCLUDE_DIRS} + ./include +) + +## Declare a C++ library +# add_library(sample_package +# src/${PROJECT_NAME}/sample_package.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(sample_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(sample_package_node src/sample_package_node.cpp) +add_executable(arm_hardware_driver src/arm_hardware_driver.cpp src/armHardwareDriver.cpp include/armHardwareDriver.h) + + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(sample_package_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(sample_package_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries(arm_hardware_driver ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS sample_package sample_package_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +# if (CATKIN_ENABLE_TESTING) +# +# # Adding gtests to the package +# catkin_add_gtest(my-node-test test/my-node-test.cpp src/MyNode.cpp) +# target_link_libraries(my-node-test ${catkin_LIBRARIES}) +# +# # Adding rostest to the package +# find_package(rostest REQUIRED) +# # name the test and link it to the .test file and the .cpp file itself, this will allow +# # "catkin_make run_tests" to be able to find and run this rostest +# add_rostest_gtest(my_node_rostest test/sample_package_test.test test/my_node_rostest.cpp) +# target_link_libraries(my_node_rostest ${catkin_LIBRARIES}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/arm_hardware_driver/package.xml b/src/arm_hardware_driver/package.xml new file mode 100644 index 000000000..d561f1e46 --- /dev/null +++ b/src/arm_hardware_driver/package.xml @@ -0,0 +1,56 @@ + + + arm_hardware_driver + 0.0.0 + The arm_hardware_driver package + + + + + tate + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + sb_utils + roscpp + std_msgs + sb_utils + + + + + + + + diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index c8fc27f26..d60b4187b 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -7,10 +7,9 @@ #include "../include/armHardwareDriver.h" -ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv) { +ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_name) { // Setup NodeHandles - std::string node_name = "TeensyDriver"; ros::init(argc, argv, node_name); ros::NodeHandle nh; ros::NodeHandle private_nh("~"); @@ -181,7 +180,7 @@ void ArmHardwareDriver::homeArm() { // ROS SERIAL COMMUNICATION APIs // -void TeensyDriver::cartesian_motion(std::vector& pos_commands, std::vector& joint_positions) +void ArmHardwareDriver::cartesian_motion(std::vector& pos_commands, std::vector& joint_positions) { std::string inMsg = ""; // convert angles to encoder steps for teensy @@ -209,7 +208,7 @@ void TeensyDriver::cartesian_motion(std::vector& pos_commands, std::vect } -void TeensyDriver::updateEncoderSteps(std::string msg) +void ArmHardwareDriver::updateEncoderSteps(std::string msg) { size_t idx1 = msg.find("A", 2) + 1; size_t idx2 = msg.find("B", 2) + 1; @@ -225,7 +224,7 @@ void TeensyDriver::updateEncoderSteps(std::string msg) enc_steps_[5] = std::stoi(msg.substr(idx6)); } -void TeensyDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions) +void ArmHardwareDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions) { for (int i = 0; i < enc_steps.size(); ++i) { @@ -234,7 +233,7 @@ void TeensyDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions, std::vector& enc_steps) +void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps) { for (int i = 0; i < joint_positions.size(); ++i) { @@ -246,13 +245,13 @@ void TeensyDriver::jointPosToEncSteps(std::vector& joint_positions, std: // Libserial Implementation -sendMsg(std::string outMsg) +void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port teensy << outMsg; } -recieveMsg(std::string& inMsg) +void ArmHardwareDriver::recieveMsg(std::string& inMsg) { // fill inMsg string with whatever comes through serial port until \n std::stringstream buffer; From f2e729aac37701547567f583f1f6b40678ceaa65 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Fri, 15 Jul 2022 16:20:44 -0700 Subject: [PATCH 014/124] xbox mode implementation and hardware interface beginning --- .../include/armHardwareDriver.h | 6 +- .../src/armHardwareDriver.cpp | 24 +- .../include/armHardwareInterface.h | 86 +++++ .../src/armHardwareInterface.cpp | 204 +++++++++++ .../src/arm_hardware_interface.cpp | 13 + .../include/ProController.h | 27 +- .../src/ProController.cpp | 21 +- .../src/{armFirmware.ino => armFirmware.cpp} | 337 +++++++++--------- 8 files changed, 536 insertions(+), 182 deletions(-) create mode 100644 src/arm_hardware_interface/include/armHardwareInterface.h create mode 100644 src/arm_hardware_interface/src/armHardwareInterface.cpp create mode 100644 src/arm_hardware_interface/src/arm_hardware_interface.cpp rename src/teensy-firmware/src/{armFirmware.ino => armFirmware.cpp} (73%) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index f3118c957..756fe815b 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -23,6 +23,8 @@ // Other #include +#include + class ArmHardwareDriver { public: ArmHardwareDriver(int argc, char** argv, std::string node_name); @@ -41,7 +43,8 @@ class ArmHardwareDriver { void depositSample(); void manualDrill(const char dir); void homeArm(); - void cartesian_motion(std::vector& pos_commands, std::vector& joint_positions); + void cartesian_motion(std::string inMsg); + void cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions); void updateEncoderSteps(std::string msg); void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); @@ -90,6 +93,7 @@ class ArmHardwareDriver { const char garbage = 'G'; private: + ros::Subscriber subPro; // The SerialStream to/from the teensy diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d60b4187b..6c59f9154 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -14,8 +14,11 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam ros::NodeHandle nh; ros::NodeHandle private_nh("~"); - // Setup Subscriber - subPro = nh.subscribe("/cmd_arm", 1, ArmHardwareDriver::teensySerialCallback, this); + // Setup Subscribers + int queue_size = 10; + + subPro = nh.subscribe( + "/cmd_arm", queue_size, ArmHardwareDriver::teensySerialCallback, this); // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); @@ -46,7 +49,7 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { void ArmHardwareDriver::joint_space_motion(std::string inMsg) { ROS_INFO("Joint space command recieved"); - char action = inMsg.at(1); + char action = inMsg[1]; switch(action) { case leftJSL: jointSpaceMove(left, left); break; @@ -74,6 +77,17 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } } +void ArmHardwareDriver::cartesian_motion(std::string inMsg) +{ + char action = inMsg[1]; + + switch(action) { + case arrowL: endEffector(left); break; + case arrowR: endEffector(right); break; + case arrowRLRel: endEffectorRel(); break; + } +} + // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { @@ -141,7 +155,7 @@ void ArmHardwareDriver::endEffector(const char dir) void ArmHardwareDriver:: endEffectorRel(const char dir) { - std::string outmsg = "EEX\n"; + std::string outmsg = "EER\n"; sendMsg(outMsg); } @@ -180,7 +194,7 @@ void ArmHardwareDriver::homeArm() { // ROS SERIAL COMMUNICATION APIs // -void ArmHardwareDriver::cartesian_motion(std::vector& pos_commands, std::vector& joint_positions) +void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions) { std::string inMsg = ""; // convert angles to encoder steps for teensy diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h new file mode 100644 index 000000000..4202df146 --- /dev/null +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -0,0 +1,86 @@ +#ifndef ARM_HARDWARE_INTERFACE_H +#define ARM_HARDWARE_INTERFACE_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arm_hardware_driver/armHardwareDriver.h" + +#include +#include + +using namespace hardware_interface; +using joint_limits_interface::JointLimits; +using joint_limits_interface::SoftJointLimits; +using joint_limits_interface::PositionJointSoftLimitsHandle; +using joint_limits_interface::PositionJointSoftLimitsInterface; + + + class ArmHardwareInterface: public hardware_interface::RobotHW + { + public: + ArmHardwareInterface(int argc, char** argv, std::string node_name); + ~ArmHardwareInterface(); + + void init(); + void update(const ros::TimerEvent& e); + void read(); + void write(ros::Duration elapsed_time); + + private: + ros::NodeHandle nh_; + ros::Timer non_realtime_loop_; + ros::Duration control_period_; + ros::Duration elapsed_time_; + PositionJointInterface positionJointInterface; + PositionJointSoftLimitsInterface positionJointSoftLimitsInterface; + double loop_hz_; + boost::shared_ptr controller_manager_; + double p_error_, v_error_, e_error_; + + // Motor driver + ArmHardwareDriver driver_; + std::vector actuator_commands_; + std::vector actuator_positions_; + + // Interfaces + hardware_interface::JointStateInterface joint_state_interface_; + hardware_interface::PositionJointInterface position_joint_interface_; + + joint_limits_interface::PositionJointSaturationInterface position_joint_saturation_interface_; + joint_limits_interface::PositionJointSoftLimitsInterface position_joint_limits_interface_; + + // Shared memory + int num_joints_; + std::vector joint_names_; + std::vector joint_offsets_; + std::vector joint_positions_; + std::vector joint_velocities_; + std::vector joint_efforts_; + std::vector joint_position_commands_; + std::vector joint_velocity_commands_; + std::vector joint_effort_commands_; + std::vector joint_lower_limits_; + std::vector joint_upper_limits_; + std::vector velocity_limits_; + std::vector acceleration_limits_; + + std::Boolean xbox_mode = false; + + // Misc + double degToRad(double deg); + double radToDeg(double rad); + + void controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) + + ros::Subscriber subMode; + }; + +#endif // ARM_HARDWARE_INTERFACE_H diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp new file mode 100644 index 000000000..37e03fe2c --- /dev/null +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -0,0 +1,204 @@ +#include +#include +#include +#include +#include +#include + + +using joint_limits_interface::JointLimits; +using joint_limits_interface::PositionJointSoftLimitsHandle; +using joint_limits_interface::PositionJointSoftLimitsInterface; +using joint_limits_interface::SoftJointLimits; + +ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, string node_name) +{ + ros::init(argc, argv, node_name); + ros::NodeHandle nh_; + ros::NodeHandle private_nh("~"); + string modeSubscriber = "xbox_mode"; + subMode = nh.subscribe( + modeSubscriber, 10, &ArmHardwareInterface::controllerModeCallBack, this); + + bool initFlag = false; + + while(!initFlag) + { + if(xbox_mode) + { + initFlag = true; + init(); + + // init ros controller manager + controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); + + nh_.param("/arm/hardware_interface/loop_hz", loop_hz_, 0.1); + ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); + ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); + non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::update, this); + + // initialize controller + for (int i = 0; i < num_joints_; ++i) + { + ROS_DEBUG_STREAM_NAMED("constructor", "Loading joint name: " << joint_names_[i]); + + // Create joint state interface + JointStateHandle jointStateHandle(joint_names_[i], &joint_positions_[i], &joint_velocities_[i], &joint_efforts_[i]); + joint_state_interface_.registerHandle(jointStateHandle); + + // Create position joint interface + JointHandle jointPositionHandle(jointStateHandle, &joint_position_commands_[i]); + position_joint_interface_.registerHandle(jointPositionHandle); + } + + // get encoder calibration + std::vector enc_steps_per_deg(num_joints_); + + for (int i = 0; i < num_joints_; ++i) + { + if(!nh_.getParam("/arm/hardware_driver/encoder_steps_per_deg/" + joint_names_[i], enc_steps_per_deg[i])) + { + ROS_WARN("Failed to get params for /arm/hardware_driver/encoder_steps_per_deg/"); + } + + if (!nh_.getParam("/arm/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) + { + ROS_WARN("Failed to get params for /arm/hardware_interface/joint_offsets/"); + } + + } + + // set velocity limits + for (int i = 0; i < num_joints_; ++i) + { + nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_velocity", velocity_limits_[i]); + nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_acceleration", acceleration_limits_[i]); + velocity_limits_[i] = radToDeg(velocity_limits_[i]); + acceleration_limits_[i] = radToDeg(acceleration_limits_[i]); + } + + // calibrate joints if needed + bool use_existing_calibrations = false; + nh_.getParam("/arm/hardware_interface/use_existing_calibrations", use_existing_calibrations); + if (!use_existing_calibrations) + { + // run calibration + ROS_INFO("Running joint calibration..."); + driver_.homeArm(); + } + + // init position commands at current positions + driver_.getJointPositions(actuator_positions_); + for (int i = 0; i < num_joints_; ++i) + { + // apply offsets, convert from deg to rad for moveit + joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); + joint_position_commands_[i] = joint_positions_[i]; + } + + registerInterface(&joint_state_interface_); + registerInterface(&position_joint_interface_); + } + } +} + +ArmHardwareInterface::~ArmHardwareInterface() +{ +} + +void ArmHardwareInterface::controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) +{ + xbox_mode = inMsg->data; + if (xbox_mode) + ROS_INFO("Enabling Xbox Mode"); + else + ROS_INFO("Pro Controller Mode Enabled"); +} + +void ArmHardwareInterface::init() +{ + // get joint names + nh_.getParam("/arm/hardware_interface/joints", joint_names_); + if (joint_names_.size() == 0) + { + ROS_FATAL_STREAM_NAMED("init", "No joints found on parameter server for controller. Did you load the proper yaml file?"); + } + num_joints_ = static_cast(joint_names_.size()); + + // resize vectors + actuator_commands_.resize(num_joints_); + actuator_positions_.resize(num_joints_); + joint_positions_.resize(num_joints_); + joint_velocities_.resize(num_joints_); + joint_efforts_.resize(num_joints_); + joint_position_commands_.resize(num_joints_); + joint_velocity_commands_.resize(num_joints_); + joint_effort_commands_.resize(num_joints_); + joint_offsets_.resize(num_joints_); + joint_lower_limits_.resize(num_joints_); + joint_upper_limits_.resize(num_joints_); + velocity_limits_.resize(num_joints_); + acceleration_limits_.resize(num_joints_); +} + +void ArmHardwareInterface::update(const ros::TimerEvent &e) +{ + + if(xbox_mode) + { + std::string logInfo = "\n"; + logInfo += "Joint Position Command:\n"; + for (int i = 0; i < num_joints_; i++) + { + std::ostringstream jointPositionStr; + jointPositionStr << radToDeg(joint_position_commands_[i]); + logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + "\n"; + } + + elapsed_time_ = ros::Duration(e.current_real - e.last_real); + + write(elapsed_time_); + read(); + + logInfo += "Joint Position State:\n"; + for (int i = 0; i < num_joints_; i++) + { + std::ostringstream jointPositionStr; + jointPositionStr << radToDeg(joint_positions_[i]); + logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + "\n"; + } + + controller_manager_->update(ros::Time::now(), elapsed_time_); + + ROS_INFO_STREAM(logInfo); + } +} + +void ArmHardwareInterface::read() +{ + driver_.update(actuator_commands_, actuator_positions_); + for (int i = 0; i < num_joints_; ++i) + { + // apply offsets, convert from deg to rad for moveit + joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); + } +} + +void ArmHardwareInterface::write(ros::Duration elapsed_time) +{ + for (int i = 0; i < num_joints_; ++i) + { + // convert from rad to deg, apply offsets + actuator_commands_[i] = radToDeg(joint_position_commands_[i]) - joint_offsets_[i]; + } +} + +double ArmHardwareInterface::degToRad(double deg) +{ + return deg / 180.0 * M_PI; +} + +double ArmHardwareInterface::radToDeg(double rad) +{ + return rad / M_PI * 180.0; +} diff --git a/src/arm_hardware_interface/src/arm_hardware_interface.cpp b/src/arm_hardware_interface/src/arm_hardware_interface.cpp new file mode 100644 index 000000000..b0418828c --- /dev/null +++ b/src/arm_hardware_interface/src/arm_hardware_interface.cpp @@ -0,0 +1,13 @@ +#include + +int main(int argc, char** argv) +{ + + std::string node_name = arm_hardware_interface + + ArmHardwareInterface moveitArm(argc, argv, node_name); + + ros::spin(); + + return 0; +} diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index d6419ccfc..5cfdbbb0e 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -11,6 +11,7 @@ #include #include #include +#include #include #include #include @@ -44,8 +45,7 @@ class ProController { void arrowsUorD(int value); // ABS_HAT0Y void leftJoystickPress(int value); // BTN_THUMBL void rightJoystickPress(int value); // BTN_THUMBR - tuple - void publishMoveXZ(double x_new, double z_new, double x_old, double z_old); + tuple publishMoveXZ(double x_new, double z_new, double x_old, double z_old); void publishArmMessage(std::string outMsg); void printState(); void printControllerDebug(int type, int code, int value); @@ -68,10 +68,10 @@ class ProController { const char triggerR = 'J'; const char bumperL = 'K'; const char bumperR = 'L'; - const char buttonARel = "M"; - const char buttonBRel = "N"; - const char buttonXRel = "O"; - const char buttonYRel = "P"; + const char buttonARel = 'M'; + const char buttonBRel = 'N'; + const char buttonXRel = 'O'; + const char buttonYRel = 'P'; const char triggerLRel = 'Q'; const char triggerRRel = 'R'; const char bumperLRel = 'S'; @@ -80,14 +80,13 @@ class ProController { const char arrowR = 'V'; const char arrowU = 'W'; const char arrowD = 'X'; - const char leftJSRel = "Y"; - const char rightJSRel = "Z"; - const char homeVal = "4"; + const char leftJSRel = 'Y'; + const char rightJSRel = 'Z'; + const char homeVal = '4'; // arm modes - const char jointMode = "1"; - const char IKMode = "2"; - const char drillMode = "3"; - + const char jointMode = '1'; + const char IKMode = '2'; + const char drillMode = '3'; struct libevdev* dev = NULL; enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; @@ -95,6 +94,8 @@ class ProController { bool debug = false; ros::Publisher pubmove; ros::Publisher pubarm; + ros::Publisher pubmode; + }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 00527b350..450a0e8c5 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -11,6 +11,7 @@ ProController::ProController(int argc, char** argv, string node_name) { string publisher = "/cmd_vel"; string armPublisher = "/cmd_arm"; + string modePublisher = "xbox_mode"; setup(); ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); @@ -25,6 +26,7 @@ ProController::ProController(int argc, char** argv, string node_name) { } pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); + pubmode = private_nh.advertise(modePublisher, 1); ROS_INFO("Preparing to read inputs...\n"); state = Mode::wheels; @@ -189,6 +191,12 @@ void publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } +void publishArmMode(std::Boolean mode) { + std_msgs::Bool outMsgWrapper; + outMsgWrapper.data = mode; + pubmode.publish(outMsgWrapper); +} + // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { @@ -296,20 +304,24 @@ void ProController::B(int value) { void ProController::X(int value) { if (value == 1) { ROS_INFO("X button pressed"); - armOutVal = buttonX; + armOutVal = buttonX; } else if (value == 0) { ROS_INFO("X button released"); - armOutVal = buttonXRel; + armOutVal = buttonXRel; + if(state == Mode::arm_cartesian) + { + pubmode.publishArmMode(true); + } } } void ProController::Y(int value) { if (value == 1) { ROS_INFO("Y button pressed"); - armOutVal = buttonY; + armOutVal = buttonY; } else if (value == 0) { ROS_INFO("Y button released"); - armOutVal = buttonYRel; + armOutVal = buttonYRel; } } @@ -357,6 +369,7 @@ void ProController::home(int value) { ROS_INFO("Home button pressed"); } else if (value == 0) { state = static_cast((state + 1) % (Mode::drilling + 1)); + pubmode.publishArmMode(false); printState(); } } diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.cpp similarity index 73% rename from src/teensy-firmware/src/armFirmware.ino rename to src/teensy-firmware/src/armFirmware.cpp index fdbfb428e..ecaddd288 100644 --- a/src/teensy-firmware/src/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -30,6 +30,9 @@ static const char left = 'L'; static const char up = 'U'; static const char down = 'D'; static const char wrist = 'W'; +static const char garbage = 'G'; +static const char faster = 'U'; +static const char slower = 'D'; int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; @@ -68,7 +71,6 @@ int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; int currentAxis = 1; int runFlags[] = {0, 0, 0, 0, 0, 0}; int i; -char garbage; bool initFlag = false; // variables for homing / arm calibration @@ -84,8 +86,7 @@ char value; const int maxSpeedIndex = 2; int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; int speedIndex = maxSpeedIndex; -char faster = 'U'; -char slower = 'D'; + void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -106,155 +107,170 @@ void setup() { // setup function to initialize pins and provide initial homing t void loop() { - currentTime = millis(); + currentTime = millis(); - if((currentTime - previousTime) > readInterval) { - commandArm() - previousTime = currentTime; - } + if((currentTime - previousTime) > readInterval) { + recieveCommand(); + previousTime = currentTime; + } - runSteppers(); +runSteppers(); } -void commandArm() +void recieveCommand() { - String inData = ""; - char recieved = ""; - if(Serial.available()) - { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); - } + String inData = ""; + char recieved = garbage; + if(Serial.available()>0) + { + do { + recieved = Serial.read(); + inData += String(recieved); + } while(recieved != '\n'); + } - if(recieved == '\n') - { - parseMessage(inData); - } + if(recieved == '\n') + { + parseMessage(inData); + } } void parseMessage(String inMsg) { - String function = inMsg.substring(0, 2); - - if(function == "MT") - { - cartesianCommands(inMsg); - } + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } - else if(function == "JM") - { - jointCommands(inMsg); - } + else if(function == "JM") + { + jointCommands(inMsg); + } - else if(function == "EE") - { - endEffectorCommands(inMsg); - } + else if(function == "EE") + { + endEffectorCommands(inMsg); + } - else if(function == "DM") - { - drillCommands(inMsg); - } + else if(function == "DM") + { + drillCommands(inMsg); + } - else if(function == "HM") - { - homeArm(); - } + else if(function == "HM") + { + homeArm(); + } } //****//CARTESIAN MODE FUNCTIONS//****// -void cartesianCommands() +void cartesianCommands(String inMsg) { - // read current joint positions - readEncPos(curEncSteps); - - // update host with joint positions - String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); - Serial.print(msg); - - // get new position commands - int msgIdxJ1 = inData.indexOf('A'); - int msgIdxJ2 = inData.indexOf('B'); - int msgIdxJ3 = inData.indexOf('C'); - int msgIdxJ4 = inData.indexOf('D'); - int msgIdxJ5 = inData.indexOf('E'); - int msgIdxJ6 = inData.indexOf('F'); - cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); - cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); - cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); - cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); - cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); - cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); - - // update target joint positions - readEncPos(curEncSteps); - for (int i = 0; i < NUM_AXES; i++) - { - int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; - if (abs(diffEncSteps) > 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - stepperJoints[i].move(diffMotSteps); - } + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + sendCurrentPosition(); + + // get new position commands + int msgIdxJ1 = inMsg.indexOf('A'); + int msgIdxJ2 = inMsg.indexOf('B'); + int msgIdxJ3 = inMsg.indexOf('C'); + int msgIdxJ4 = inMsg.indexOf('D'); + int msgIdxJ5 = inMsg.indexOf('E'); + int msgIdxJ6 = inMsg.indexOf('F'); + cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + steppers[i].move(diffMotSteps); } + } } // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { - char function = inMsg[2]; - char detail1 = inMsg[3]; + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} - switch(function) - { - case release: releaseEvent(detail1, inMsg[4]); break; - case speed: changeSpeed(detail1); break; - case axis: changeAxis(detail1); break; - case move: jointMovement(detail1, inMsg[4]); break; - } +void endEffectorCommands(String inMsg) +{ + // fill with end effector commands depending on substring +} + +void drillMotion(String inMsg) +{ + // fill with calls to drill functions depending on substring +} + +void sendCurrentPosition() +{ + String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(outMsg); } // Sets movement target positions when in joint space mode void jointMovement(char joystick, char dir) { - if(joystick == wrist) + if(joystick == wrist) + { + switch(dir) { - switch(dir) - { - case up: runWrist(FWD, 5); break; - case down: runWrist(REV, 5); break; - case left: runWrist(FWD, 6); break; - case right: runWrist(REV, 6); break; - } + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; } + } - else if(joystick == left) + else if(joystick == left) + { + switch(dir) { - switch(dir) - { - case left: runAxes(FWD, currentAxis); break; - case right: runAxes(REV, currentAxis); break; - } + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; } + } - else + else + { + switch(dir) { - switch(dir) - { - case up: runAxes(FWD, currentAxis+1); break; - case down: runAxes(REV, currentAxis+1); break; - } + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; } + } } //****//ENCODER RELATED FUNCTIONS//****// @@ -356,34 +372,34 @@ void changeAxis(int dir) { // when user hits specified button, axis targets chan void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character - if(joystick == wrist) + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) { - if ((dir == up) || (dir == down)) - { - steppers[6].stop(); - steppers[7].stop(); - runFlags[5] = 0; - } - - else - { - steppers[4].stop(); - steppers[5].stop(); - runFlags[4] = 0; - } + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; } - else if(joystick == left) + else { - steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; } + } - else - { - steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); - } + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } } void changeSpeed(char speedVal) { // changes speed of all axes based on user input @@ -418,13 +434,6 @@ void zeroRunFlags() { // when user changes axis to control on switch, slow curre } } - - - - - - - //****// ARM CALIBRATION FUNCTIONS//****// void homeArm() { // main function for full arm homing @@ -433,6 +442,7 @@ void homeArm() { // main function for full arm homing initializeHomingMotion(); homeBase(); initializeMotion(); + sendCurrentPosition(); } void homeBase() { // homes axes 1-4 @@ -591,27 +601,36 @@ void runSteppers() { // runs all stepper motors (if no target position has been void waitForHome() { // stops arm motion until user homes arm after firmware is flashed - String inData = ""; - char recieved = ""; - bool initFlag = false; - while(!initFlag) { - - if(Serial.available()) + String inData = ""; + char recieved; + bool initFlag = false; + bool serialFlag = false; + + while(!initFlag) { + + if(Serial.available() > 0) + { + recieved = Serial.read(); + inData += String(recieved) + if(recieved == '\n') + { + serialFlag = true; + } + } + + if(serialFlag) + { + if(inData = "HM") { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); + homeArm(); + initFlag = true; } - if(recieved == '\n') + else { - if(inData = "HM") - { - homeArm(); - initFlag = true; - } + inData = ""; + serialFlag = false; } - delay(readInterval); } + } } \ No newline at end of file From 0600cefbd8b087d517a2ada70f8b1482fa9c957b Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Thu, 21 Jul 2022 20:41:05 -0700 Subject: [PATCH 015/124] updated teensy firmware to account for differential wrist joint --- src/teensy-firmware/src/armFirmware.cpp | 151 ++++++++++++++++++------ 1 file changed, 116 insertions(+), 35 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index ecaddd288..4540accb3 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -20,6 +20,9 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU #define REV 0 int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; +int pprEnc = 512; +int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; +const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; static const char release = 'R'; static const char move = 'M'; @@ -34,20 +37,21 @@ static const char garbage = 'G'; static const char faster = 'U'; static const char slower = 'D'; -int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; -int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; +int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; +int dirPins[8] = {5, 7, 9, 1, 11, 24, 11, 24}; +int stepPinsIK[6] = {6, 8, 2, 10, 25, 12}; +int dirPinsIK[6] = {5, 7, 1, 9, 24, 11}; +int encPinA[6] = {17, 38, 40, 36, 15, 13}; +int encPinB[6] = {16, 37, 39, 35, 14, 41}; // limit switch pins -int limPins[6] = {23, 22, 20, 21, 18, 19}; +int limPins[6] = {18, 19, 21, 20, 23, 22}; // pulses per revolution for motors long ppr[6] = {400, 400, 400, 400, 400, 400}; // Gear Reduction Ratios -float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34}; - -// Encoder pulses per revolution -long pprEnc = 512; +float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; // Motor speeds and accelerations int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; @@ -56,7 +60,7 @@ int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; // Range of motion (degrees) for each axis -int maxAngles[6] = {180, 70, 180, 120, 140, 100}; +int maxAngles[6] = {180, 140, 180, 120, 140, 100}; const unsigned long readInterval = 10; unsigned long currentTime; @@ -64,6 +68,8 @@ unsigned long previousTime = 0; // stepper motor objects for AccelStepper library AccelStepper steppers[8]; +AccelStepper steppersIK[8]; +Encoder encoders[6]; // variable declarations long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; @@ -72,12 +78,13 @@ int currentAxis = 1; int runFlags[] = {0, 0, 0, 0, 0, 0}; int i; bool initFlag = false; +bool jointFlag = true; // variables for homing / arm calibration long homePosConst = -99000; long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; -long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500}; +long homeCompAngles[] = {axisDir[0]*93, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; char value; @@ -87,19 +94,28 @@ const int maxSpeedIndex = 2; int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; int speedIndex = maxSpeedIndex; - - void setup() { // setup function to initialize pins and provide initial homing to the arm Serial.begin(9600); // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library + for(i = 0; i 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - steppers[i].move(diffMotSteps); - } - } + cmdArmBase(); + cmdArmWrist(); } // parses which commands to execute when in joint space mode @@ -225,7 +234,7 @@ void jointCommands(String inMsg) void endEffectorCommands(String inMsg) { - // fill with end effector commands depending on substring + // Marcus to fill in with accelstepper code. } void drillMotion(String inMsg) @@ -277,14 +286,72 @@ void jointMovement(char joystick, char dir) void readEncPos(int* encPos) { - encPos[0] = J1encPos.read() * ENC_DIR[0]; - encPos[1] = J2encPos.read() * ENC_DIR[1]; - encPos[2] = J3encPos.read() * ENC_DIR[2]; - encPos[3] = J4encPos.read() * ENC_DIR[3]; - encPos[4] = J5encPos.read() * ENC_DIR[4]; - encPos[5] = J6encPos.read() * ENC_DIR[5]; + for(i=0; i 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < ppr[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + + steppersIK[i].move(diffMotSteps); + } + } +} + +void cmdArmWrist() +{ + int diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; + int diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; + + if(abs(diffEncStepsA5) > 2) + { + int diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; + if(diffMotStepsA5 < ppr[i]) + { + diffMotStepsA5 = diffEncStepsA5 / 2; + } + } + + if(abs(diffEncStepsA6) > 2) + { + int diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; + if(diffMotStepsA6 < ppr[i]) + { + diffMotStepsA6 = diffEncStepsA6 / 2; + } + } + + int actualMotStepsA5 = diffMotStepsA5/2 + diffMotStepsA6/2; + int actualMotStepsA6 = diffMotStepsA6/2 - diffMotStepsA5/2; + + steppersIK[4].move(actualMotStepsA5); + steppersIK[5].move(actualMotStepsA6); +} + + + //****//JOINT SPACE MODE FUNCTIONS//****// // sets target position for axes in joint space mode @@ -442,7 +509,14 @@ void homeArm() { // main function for full arm homing initializeHomingMotion(); homeBase(); initializeMotion(); + zeroEncoders(); sendCurrentPosition(); + + for(int i=0; i Date: Mon, 25 Jul 2022 10:01:04 -0700 Subject: [PATCH 016/124] progress: --- .../include/armHardwareDriver.h | 3 +- .../src/armHardwareDriver.cpp | 14 +- src/teensy-firmware/src/armFirmware.cpp | 183 ++++++++++++++++-- 3 files changed, 183 insertions(+), 17 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 756fe815b..f49cc009a 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -35,13 +35,14 @@ class ArmHardwareDriver { void jointSpaceMove(const char joystick, const char dir); void changeSpeed(const char dir); void changeAxis(const char joystick); - void releaseAxis(const char joystick); + void releaseAxis(const char joystick, const char dir); void endEffector(const char dir); void endEffectorRel(const char dir); void prepareDrilling(); void collectSample(); void depositSample(); void manualDrill(const char dir); + void releaseDrill(); void homeArm(); void cartesian_motion(std::string inMsg); void cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions); diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 6c59f9154..3708c8fef 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -100,6 +100,7 @@ void ArmHardwareDriver::drill_motion(std::string inMsg) { case buttonX: depositSample(); break; case triggerL: manualDrill(left); break; case triggerR: manualDrill(right); break; + case (triggerLRel || triggerRRel): manualDrill(); break; // below two lines to be implemented once cartesian mode is sorted // case rightJSU: moveDrillUp(); break; // case rightJSD: moveDrillDown(); break; @@ -110,8 +111,8 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { std::string outMsg = "JM"; outMsg += "M"; - outMsg += dir; outMsg += joystick; + outMsg += dir; outMsg += "\n"; sendMsg(outMsg); } @@ -134,7 +135,7 @@ void ArmHardwareDriver::changeAxis(const char joystick) sendMsg(outMsg); } -void ArmHardwareDriver::releaseAxis(const char joystick) +void ArmHardwareDriver::releaseAxis(const char joystick, const char dir) { std::string outMsg = "JM"; outMsg += "R"; @@ -180,12 +181,19 @@ void ArmHardwareDriver::depositSample() void ArmHardwareDriver::manualDrill(const char dir) { - std::string outMsg = "DM"; + std::string outMsg = "DMM"; outMsg += dir; outMsg += "\n"; sendMsg(outMsg); } +void ArmHardwareDriver::releaseDrill() +{ + std::string outMsg = "DMMX"; + outMsg += "\n"; + sendMsg(outMsg); +} + void ArmHardwareDriver::homeArm() { std::string outMsg = "HM\n"; sendMsg(outMsg); diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index 4540accb3..5dc76523a 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -6,6 +6,7 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU */ #include +#include // general parameters #define NUM_AXES 6 @@ -19,11 +20,6 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU #define FWD 1 #define REV 0 -int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; -int pprEnc = 512; -int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; -const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; - static const char release = 'R'; static const char move = 'M'; static const char change = 'A'; @@ -36,7 +32,22 @@ static const char wrist = 'W'; static const char garbage = 'G'; static const char faster = 'U'; static const char slower = 'D'; +static const char open = left; +static const char close = right; +static const char prepare = 'P'; +static const char collect = 'C'; +static const char deposit = 'D'; +static const char manual = 'M'; +static const char drillRelease = 'X'; +// Encoder Variables + +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; +int pprEnc = 512; +int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; +const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; + +// Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; int dirPins[8] = {5, 7, 9, 1, 11, 24, 11, 24}; int stepPinsIK[6] = {6, 8, 2, 10, 25, 12}; @@ -44,6 +55,20 @@ int dirPinsIK[6] = {5, 7, 1, 9, 24, 11}; int encPinA[6] = {17, 38, 40, 36, 15, 13}; int encPinB[6] = {16, 37, 39, 35, 14, 41}; +// end effector variables +const int maxForce = 30; // needs to be checked +const float calibrationFactor = -111.25 +float force; +HX711 scale; +int calPos = 0; +int closePos = 0; +int openPos = 2000; // needs to be calibrated +int EEstepPin = 20; +int EEdirPin = 21; +int speedEE = 1000; +int accEE = 5000; +const int MOTOR_DIR_EE = 1; + // limit switch pins int limPins[6] = {18, 19, 21, 20, 23, 22}; @@ -62,12 +87,18 @@ int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000 // Range of motion (degrees) for each axis int maxAngles[6] = {180, 140, 180, 120, 140, 100}; +// Time variables const unsigned long readInterval = 10; -unsigned long currentTime; -unsigned long previousTime = 0; +const unsigned long currentTime; +const unsigned long previousTime = 0; +const unsigned long previousTimeJP = 0; +const unsigned long timeIntervalJP = 50; +const unsigned long previousTimeEE = 0; +const unsigned long timeIntervalEE = 100; // stepper motor objects for AccelStepper library AccelStepper steppers[8]; +AccelStepper endEff(1, EEstepPin, EEdirPin); AccelStepper steppersIK[8]; Encoder encoders[6]; @@ -98,6 +129,10 @@ void setup() { // setup function to initialize pins and provide initial homing t Serial.begin(9600); + // initializes end effector motor + pinMode(EEstepPin, OUTPUT); + pinMode(EEdirPin, OUTPUT); + // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library for(i = 0; i= timeIntervalJP) + { + sendCurrentPosition(); + previousTimeJP = currentTime; + } } void endEffectorCommands(String inMsg) { - // Marcus to fill in with accelstepper code. + char data = inMsg[2]; + int force = getForce(); + + //opening code + if ((data == open) && (force < 100)) { //check if open button pressed and if force is less than max + endEff.moveTo(openPos*MOTOR_DIR_EE); //continue to move to open position + } + + //closing code + else if ((data == close) && (force < 100)) { //check if open button pressed and if force is less than max + endEff.moveTo(closePos*MOTOR_DIR_EE); //continue to move to closed position + } + + else if ((data == release) || (force >= 100)) { //else check if release button pressed + endEff.stop(); // stop when above condition reached + } + + // need to only send force if a certain time interval defined by timeVal has passed + sendForce(force); +} + +int getForce() +{ + force=scale.get_units()/1000*9.81; + int forcePercent = force*100/maxForce; + return forcePercent; +} + +void sendForce(int forcePercent) +{ + long currentTime = millis(); //checks total runtime + long timeDiff = currentTime - previousTimeEE; //finds interval between runtime and previous checked time + if (timeDiff >= timeIntervalEE) + { + String force_value = String(forcePercent); + String force_message = "FV" + force_value; + Serial.print(force_message); + previousTimeEE = currentTime; + } } void drillMotion(String inMsg) { - // fill with calls to drill functions depending on substring + char function = inMsg[2]; + + switch(function) + { + case manual: manualDrill(inMsg[3]); break; + case drillRelease: stopDrill(); break; + case prepare: prepDrill(); break; + case collect: collectSample(); break; + case deposit: depositSample(); break; + } +} + +void manualDrill(char dir) +{ + if(dir == left) + { + endEff.move(1000); + } + + else + { + endEff.move(-1000); + } +} + +void drillRelease() +{ + EE.stop(); +} + +void prepDrill() +{ + +} + +void collectSample() +{ + +} + +void depositSample() +{ + } void sendCurrentPosition() @@ -508,9 +633,10 @@ void homeArm() { // main function for full arm homing homeWrist(); initializeHomingMotion(); homeBase(); + //homeEE(); initializeMotion(); zeroEncoders(); - sendCurrentPosition(); + Serial.println("Arm Homed\n"); for(int i=0; i Date: Mon, 25 Jul 2022 12:42:36 -0700 Subject: [PATCH 017/124] Add ability to toggle usage of MoveIt --- .../include/ProController.h | 6 +++-- .../src/ProController.cpp | 25 ++++++++----------- 2 files changed, 15 insertions(+), 16 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 5cfdbbb0e..4a37241f6 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -89,13 +89,15 @@ class ProController { const char drillMode = '3'; struct libevdev* dev = NULL; - enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3 }; + enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3, num_modes = 4 }; Mode state; bool debug = false; ros::Publisher pubmove; ros::Publisher pubarm; ros::Publisher pubmode; - + + std_msgs::Bool true_message; + std_msgs::Bool false_message; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 450a0e8c5..f1df261fc 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -11,7 +11,7 @@ ProController::ProController(int argc, char** argv, string node_name) { string publisher = "/cmd_vel"; string armPublisher = "/cmd_arm"; - string modePublisher = "xbox_mode"; + string modePublisher = "/moveit_toggle"; setup(); ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); @@ -26,7 +26,10 @@ ProController::ProController(int argc, char** argv, string node_name) { } pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); - pubmode = private_nh.advertise(modePublisher, 1); + pubmode = private_nh.advertise(modePublisher, 1); + + true_message.data = true; + false_message.data = false; ROS_INFO("Preparing to read inputs...\n"); state = Mode::wheels; @@ -191,12 +194,6 @@ void publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } -void publishArmMode(std::Boolean mode) { - std_msgs::Bool outMsgWrapper; - outMsgWrapper.data = mode; - pubmode.publish(outMsgWrapper); -} - // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { @@ -308,10 +305,6 @@ void ProController::X(int value) { } else if (value == 0) { ROS_INFO("X button released"); armOutVal = buttonXRel; - if(state == Mode::arm_cartesian) - { - pubmode.publishArmMode(true); - } } } @@ -368,8 +361,12 @@ void ProController::home(int value) { if (value == 1) { ROS_INFO("Home button pressed"); } else if (value == 0) { - state = static_cast((state + 1) % (Mode::drilling + 1)); - pubmode.publishArmMode(false); + state = static_cast((state + 1) % (Mode::num_modes)); + if (state == Mode::wheels || state == Mode::arm_joint_space) { + pubmode.publish(false_message); + } else { + pubmode.publish(true_message); + } printState(); } } From 5ed1701e0db170a1681bc4d972d83d6d417f3893 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Mon, 25 Jul 2022 15:11:42 -0700 Subject: [PATCH 018/124] Sketch communication between hardware driver & interface --- .../include/armHardwareDriver.h | 4 +++ .../src/armHardwareDriver.cpp | 8 ++++- .../include/armHardwareInterface.h | 6 +++- .../src/armHardwareInterface.cpp | 24 ++++++++++---- src/sb_msgs/CMakeLists.txt | 33 +++++++++++++++++++ src/sb_msgs/msg/ArmPosition.msg | 2 ++ src/sb_msgs/package.xml | 26 +++++++++++++++ 7 files changed, 94 insertions(+), 9 deletions(-) create mode 100644 src/sb_msgs/CMakeLists.txt create mode 100644 src/sb_msgs/msg/ArmPosition.msg create mode 100644 src/sb_msgs/package.xml diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index f49cc009a..568694f07 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -19,6 +19,7 @@ // Snowbots Includes #include +#include // Other #include @@ -94,8 +95,11 @@ class ArmHardwareDriver { const char garbage = 'G'; private: + void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); ros::Subscriber subPro; + ros::Subscriber sub_command_pos; + ros::Publisher pub_observed_pos; // The SerialStream to/from the teensy LibSerial::SerialStream teensy; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 3708c8fef..90e2e2ea0 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -18,7 +18,9 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam int queue_size = 10; subPro = nh.subscribe( - "/cmd_arm", queue_size, ArmHardwareDriver::teensySerialCallback, this); + "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); + sub_command_pos = nh.subscribe("/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); + pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); @@ -34,6 +36,10 @@ void ArmHardwareDriver::teensySerialCallback(std_msgs::String& inMsg) { parseInput(inMsg.data); } +void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg) { + // TODO +} + void ArmHardwareDriver::parseInput(std::string inMsg) { char mode = inMsg[0]; diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 4202df146..138bc217e 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -12,6 +12,7 @@ #include #include #include "arm_hardware_driver/armHardwareDriver.h" +#include #include #include @@ -72,15 +73,18 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; std::vector velocity_limits_; std::vector acceleration_limits_; - std::Boolean xbox_mode = false; + bool cartesian_mode = false; // Misc double degToRad(double deg); double radToDeg(double rad); void controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) + void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_Msg) ros::Subscriber subMode; + ros::Subscriber sub_arm_pos; + ros::Publisher pub_arm_pos; }; #endif // ARM_HARDWARE_INTERFACE_H diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 37e03fe2c..d637a6ed7 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -16,15 +16,19 @@ ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, string node_na ros::init(argc, argv, node_name); ros::NodeHandle nh_; ros::NodeHandle private_nh("~"); - string modeSubscriber = "xbox_mode"; + string modeSubscriber = "/moveit_toggle"; subMode = nh.subscribe( modeSubscriber, 10, &ArmHardwareInterface::controllerModeCallBack, this); + string arm_pos_subscriber = "/observed_pos_arm"; + sub_arm_pos = nh.subscribe(arm_pos_subscriber, 10, &ArmHardwareInterface::armPositionCallBack, this); + string arm_pos_publisher = "/cmd_pos_arm"; + pub_arm_pos = private_nh.advertise(arm_pos_publisher, 1); bool initFlag = false; while(!initFlag) { - if(xbox_mode) + if(cartesian_mode) { initFlag = true; init(); @@ -108,11 +112,17 @@ ArmHardwareInterface::~ArmHardwareInterface() void ArmHardwareInterface::controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) { - xbox_mode = inMsg->data; - if (xbox_mode) - ROS_INFO("Enabling Xbox Mode"); + cartesian_mode = inMsg->data; + if (cartesian_mode) + ROS_INFO("Enabling Cartesian Mode"); else - ROS_INFO("Pro Controller Mode Enabled"); + ROS_INFO("Disabling Cartesian Mode"); +} + +void ArmHardwareInterface::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { + if (!cartesian_mode) { + // TODO + } } void ArmHardwareInterface::init() @@ -144,7 +154,7 @@ void ArmHardwareInterface::init() void ArmHardwareInterface::update(const ros::TimerEvent &e) { - if(xbox_mode) + if(cartesian_mode) { std::string logInfo = "\n"; logInfo += "Joint Position Command:\n"; diff --git a/src/sb_msgs/CMakeLists.txt b/src/sb_msgs/CMakeLists.txt new file mode 100644 index 000000000..080397eb4 --- /dev/null +++ b/src/sb_msgs/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sb_msgs) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED + std_msgs + message_generation + ) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## Generate messages in the 'msg' folder +add_message_files( + DIRECTORY msg + FILES ArmPosition.msg +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) + diff --git a/src/sb_msgs/msg/ArmPosition.msg b/src/sb_msgs/msg/ArmPosition.msg new file mode 100644 index 000000000..e45142201 --- /dev/null +++ b/src/sb_msgs/msg/ArmPosition.msg @@ -0,0 +1,2 @@ +Header header +double[] positions diff --git a/src/sb_msgs/package.xml b/src/sb_msgs/package.xml new file mode 100644 index 000000000..c727678f2 --- /dev/null +++ b/src/sb_msgs/package.xml @@ -0,0 +1,26 @@ + + + sb_msgs + 0.0.0 + + This package contains miscellaneous messages developed by UBC Snowbots + + + ihsan + + TODO + + catkin + + message_generation + std_msgs + + message_runtime + std_msgs + + + + + + + From 0107bc6437ad4232dedb5150c57958edf37260af Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Mon, 25 Jul 2022 21:48:23 -0700 Subject: [PATCH 019/124] Resolve compiler errors asides from serial communication issues --- src/arm_hardware_driver/CMakeLists.txt | 3 +- .../include/armHardwareDriver.h | 5 +- src/arm_hardware_driver/package.xml | 2 + .../src/armHardwareDriver.cpp | 122 +++++++++++------- .../include/ProController.h | 3 + .../src/ProController.cpp | 4 +- src/sb_msgs/CMakeLists.txt | 1 + src/sb_msgs/msg/ArmPosition.msg | 3 +- 8 files changed, 91 insertions(+), 52 deletions(-) diff --git a/src/arm_hardware_driver/CMakeLists.txt b/src/arm_hardware_driver/CMakeLists.txt index 7e8c06aa4..8a5cbb49d 100644 --- a/src/arm_hardware_driver/CMakeLists.txt +++ b/src/arm_hardware_driver/CMakeLists.txt @@ -15,8 +15,9 @@ add_definitions(-std=c++14) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs + sb_utils + sb_msgs ) -find_package(sb_utils REQUIRED) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 568694f07..077b96c85 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -24,7 +24,7 @@ // Other #include -#include +// #include class ArmHardwareDriver { public: @@ -38,7 +38,7 @@ class ArmHardwareDriver { void changeAxis(const char joystick); void releaseAxis(const char joystick, const char dir); void endEffector(const char dir); - void endEffectorRel(const char dir); + void endEffectorRel(); void prepareDrilling(); void collectSample(); void depositSample(); @@ -78,6 +78,7 @@ class ArmHardwareDriver { const char arrowR = 'V'; const char arrowU = 'W'; const char arrowD = 'X'; + const char arrowRLRel = '0'; const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; const char homeVal = '4'; diff --git a/src/arm_hardware_driver/package.xml b/src/arm_hardware_driver/package.xml index d561f1e46..9ef2caedc 100644 --- a/src/arm_hardware_driver/package.xml +++ b/src/arm_hardware_driver/package.xml @@ -43,9 +43,11 @@ roscpp std_msgs sb_utils + sb_msgs roscpp std_msgs sb_utils + sb_msgs diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 90e2e2ea0..63ddfc90b 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -20,7 +20,7 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam subPro = nh.subscribe( "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); sub_command_pos = nh.subscribe("/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); - pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); + pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); @@ -44,10 +44,12 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { char mode = inMsg[0]; - switch(mode) { - case jointMode: joint_space_motion(inMsg); break; - case IKMode: cartesian_motion(inMsg); break; - case drillMode: drill_motion(inMsg); break; + if (mode == jointMode) { + joint_space_motion(inMsg); + } else if (mode == IKMode) { + cartesian_motion(inMsg); + } else if (mode == drillMode) { + drill_motion(inMsg); } } @@ -57,29 +59,50 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { ROS_INFO("Joint space command recieved"); char action = inMsg[1]; - switch(action) { - case leftJSL: jointSpaceMove(left, left); break; - case leftJSR: jointSpaceMove(left, right); break; - case rightJSU: jointSpaceMove(right, up); break; - case rightJSD: jointSpaceMove(right, down); break; - case buttonA: jointSpaceMove(wrist, down); break; - case buttonB: jointSpaceMove(wrist, right); break; - case buttonX: jointSpaceMove(wrist, left); break; - case buttonY: jointSpaceMove(wrist, up); break; - case triggerL: changeAxis(down); break; - case triggerR: changeAxis(up); break; - case leftJSRel: releaseAxis(left, garbage); break; - case rightJSRel: releaseAxis(right, garbage); break; - case buttonARel: releaseAxis(wrist, right); break; - case buttonBRel: releaseAxis(wrist, down); break; - case buttonXRel: releaseAxis(wrist, up); break; - case buttonYRel: releaseAxis(wrist, left); break; - case arrowU: changeSpeed(up); break; - case arrowD: changeSpeed(down); break; - case arrowL: endEffector(left); break; - case arrowR: endEffector(right); break; - case arrowRLRel: endEffectorRel(); break; - case homeVal: homeArm(); break; + if (action == leftJSL) { + jointSpaceMove(left, left); + } else if (action == leftJSR) { + jointSpaceMove(left, right); + } else if (action == rightJSU) { + jointSpaceMove(right, up); + } else if (action == rightJSD) { + jointSpaceMove(right, down); + } else if (action == buttonA) { + jointSpaceMove(wrist, down); + } else if (action == buttonB) { + jointSpaceMove(wrist, right); + } else if (action == buttonX) { + jointSpaceMove(wrist, left); + } else if (action == buttonY) { + jointSpaceMove(wrist, up); + } else if (action == triggerL) { + changeAxis(down); + } else if (action == triggerR) { + changeAxis(up); + } else if (action == leftJSRel) { + releaseAxis(right, garbage); + } else if (action == rightJSRel) { + releaseAxis(wrist, garbage); + } else if (action == buttonARel) { + releaseAxis(wrist, right); + } else if (action == buttonBRel) { + releaseAxis(wrist, down); + } else if (action == buttonXRel) { + releaseAxis(wrist, up); + } else if (action == buttonYRel) { + releaseAxis(wrist, left); + } else if (action == arrowU) { + changeSpeed(up); + } else if (action == arrowD) { + changeSpeed(down); + } else if (action == arrowL) { + endEffector(left); + } else if (action == arrowR) { + endEffector(right); + } else if (action == arrowRLRel) { + endEffectorRel(); + } else if (action == homeVal) { + homeArm(); } } @@ -87,10 +110,12 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { char action = inMsg[1]; - switch(action) { - case arrowL: endEffector(left); break; - case arrowR: endEffector(right); break; - case arrowRLRel: endEffectorRel(); break; + if (arrowL) { + endEffector(left); + } else if (arrowRLRel) { + endEffector(right); + } else if (arrowRLRel) { + endEffectorRel(); } } @@ -100,17 +125,22 @@ void ArmHardwareDriver::drill_motion(std::string inMsg) { ROS_INFO("Drilling command recieved"); char action = inMsg.at(1); - switch(action) { - case buttonA: prepareDrilling(); break; - case buttonB: collectSample(); break; - case buttonX: depositSample(); break; - case triggerL: manualDrill(left); break; - case triggerR: manualDrill(right); break; - case (triggerLRel || triggerRRel): manualDrill(); break; - // below two lines to be implemented once cartesian mode is sorted - // case rightJSU: moveDrillUp(); break; - // case rightJSD: moveDrillDown(); break; + if (buttonA) { + prepareDrilling(); + } else if (buttonB) { + collectSample(); + } else if (buttonX) { + depositSample(); + } else if (triggerL) { + manualDrill(left); + } else if (triggerR) { + manualDrill(right); + } else if (triggerLRel || triggerRRel) { + releaseDrill(); } + // below two lines to be implemented once cartesian mode is sorted + // case rightJSU: moveDrillUp(); break; + // case rightJSD: moveDrillDown(); break; } void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) @@ -125,6 +155,8 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) void ArmHardwareDriver::changeSpeed(const char dir) { + ROS_INFO("Changing speed"); + ROS_INFO(dir == up ? "Speed increasing" : (dir == down ? "Speed decreasing" : "Incorrect direction provided")); std::string outMsg = "JM"; outMsg = "S"; outMsg += dir; @@ -136,7 +168,7 @@ void ArmHardwareDriver::changeAxis(const char joystick) { std::string outMsg = "JM"; outMsg += "A"; - outMsg += dir; + outMsg += joystick; outMsg += "\n"; sendMsg(outMsg); } @@ -160,9 +192,9 @@ void ArmHardwareDriver::endEffector(const char dir) sendMsg(outMsg); } -void ArmHardwareDriver:: endEffectorRel(const char dir) +void ArmHardwareDriver::endEffectorRel() { - std::string outmsg = "EER\n"; + std::string outMsg = "EER\n"; sendMsg(outMsg); } diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 4a37241f6..7d371b7d7 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -12,6 +12,7 @@ #include #include #include +#include #include #include #include @@ -80,6 +81,8 @@ class ProController { const char arrowR = 'V'; const char arrowU = 'W'; const char arrowD = 'X'; + const char arrowRLRel = '0'; + const char arrowUDRel = '5'; const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; const char homeVal = '4'; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index f1df261fc..054a8affd 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -137,7 +137,7 @@ void ProController::readInputs() { } else { // Drilling mode for arm - outmsg += drillMode; + armOutMsg += drillMode; armOutMsg += armOutVal; publishArmMessage(armOutMsg); } @@ -187,7 +187,7 @@ tuple ProController::publishMoveXZ(double x_new, } // If controller recieves new commands and is in an arm mode, send message to arm -void publishArmMessage(std::string outMsg) { +void ProController::publishArmMessage(std::string outMsg) { std_msgs::String outMsgWrapper; outMsg += '\n'; outMsgWrapper.data = outMsg; diff --git a/src/sb_msgs/CMakeLists.txt b/src/sb_msgs/CMakeLists.txt index 080397eb4..54ee642e8 100644 --- a/src/sb_msgs/CMakeLists.txt +++ b/src/sb_msgs/CMakeLists.txt @@ -5,6 +5,7 @@ project(sb_msgs) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED + roscpp std_msgs message_generation ) diff --git a/src/sb_msgs/msg/ArmPosition.msg b/src/sb_msgs/msg/ArmPosition.msg index e45142201..6f9d3f7bb 100644 --- a/src/sb_msgs/msg/ArmPosition.msg +++ b/src/sb_msgs/msg/ArmPosition.msg @@ -1,2 +1 @@ -Header header -double[] positions +float64[] positions From b591f3b1f1ae49c9365410a058a5bd50c58854f3 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 25 Jul 2022 23:31:24 -0700 Subject: [PATCH 020/124] added HW interface / driver pub/sub implementations for communication with board --- .../include/armHardwareDriver.h | 14 ++ .../src/armHardwareDriver.cpp | 66 ++++++- .../include/armHardwareInterface.h | 2 +- .../src/armHardwareInterface.cpp | 165 +++++++++--------- src/teensy-firmware/src/armFirmware.cpp | 37 ++-- 5 files changed, 174 insertions(+), 110 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 077b96c85..e42ad6be4 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -52,6 +52,12 @@ class ArmHardwareDriver { void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); void sendMsg(std::string outMsg); void recieveMsg(std::string& inMsg); + void requestArmPosition(); + void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg); + void updateHWInterface(); + void requestArmPosition(); + + // character representations of buttons for arm communication const char leftJSL = 'A'; @@ -95,6 +101,14 @@ class ArmHardwareDriver { const char wrist = 'W'; const char garbage = 'G'; + int num_joints_ = 6; + + std::vector encPos, encCmd; + std::vector armCmd, armPos, encStepsPerDeg; + + double refresh_rate_hz = 10.0; + ros::Timer arm_pos_timer; + private: void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 63ddfc90b..0419dcc06 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -22,12 +22,26 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam sub_command_pos = nh.subscribe("/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); + ros::Duration pos_update_freq = ros::Duration(1.0/refresh_rate_hz); + arm_pos_timer = nh.createTimer(pos_update_freq, &ArmHardwareDriver::requestArmPosition, this); + // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port teensy.Open(port); teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); + + encCmd.resize(num_joints_); + armCmd.resize(num_joints_); + encStepsPerDeg.resize(num_joints_); + armPos.resize(num_joints_); + armCmd.resize(num_joints_); + + for(int i=0; i type with sb_msgs values + armCmd = // _________ + jointPosToEncSteps(armCmd, encCmd); + + std::string outMsg = "MT"; + for (int i = 0; i < num_joints_; ++i) + { + outMsg += 'A' + i; + outMsg += std::to_string(encCmd[i]); + } + outMsg += "\n"; + sendMsg(outMsg); + recieveMsg(); +} + +/* deprecated, for reference only void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions) { @@ -266,6 +293,7 @@ void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, // convert from encoder steps to angles encStepsToJointPos(enc_steps_ , joint_positions); } +*/ void ArmHardwareDriver::updateEncoderSteps(std::string msg) @@ -302,7 +330,6 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, } } - // Libserial Implementation void ArmHardwareDriver::sendMsg(std::string outMsg) @@ -321,5 +348,32 @@ void ArmHardwareDriver::recieveMsg(std::string& inMsg) buffer << next_char; } while (next_char != '\n'); inMsg = buffer.str(); + + if(inMsg.substr(0, 2) == "JP") + { + ROS_INFO("Sending Arm Position to HW Interface") + updateEncoderSteps(inMsg); + encStepsToJointPos(encPos , armPos); + updateHWInterface(); + } + + else if (inMsg.substr(0, 2) == "EE") + ROS_INFO(inMsg); + +} + +void ArmHardwareDriver::requestArmPosition() +{ + std::string outMsg = "JP"; + outMsg += "\n"; + sendMsg(outMsg); + recieveMsg() +} + +void ArmHardwareDriver::updateHWInterface() +{ + // TODO: Ihsan fill in correct message implementation + //sb_msgs::ArmPosition outMsg = _____ + //pub_observed_pos.publish(outMsg); } diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 138bc217e..098276ed7 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -31,9 +31,9 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; ~ArmHardwareInterface(); void init(); - void update(const ros::TimerEvent& e); void read(); void write(ros::Duration elapsed_time); + void cmdArmPosition(const ros::TimerEvent& e); private: ros::NodeHandle nh_; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index d637a6ed7..b552ffe6b 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -24,86 +24,65 @@ ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, string node_na string arm_pos_publisher = "/cmd_pos_arm"; pub_arm_pos = private_nh.advertise(arm_pos_publisher, 1); - bool initFlag = false; + init(); - while(!initFlag) + // init ros controller manager + controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); + + nh_.param("/arm/hardware_interface/loop_hz", loop_hz_, 0.1); + ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); + ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); + non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::cmdArmPosition, this); + + // initialize controller + for (int i = 0; i < num_joints_; ++i) + { + ROS_DEBUG_STREAM_NAMED("constructor", "Loading joint name: " << joint_names_[i]); + + // Create joint state interface + JointStateHandle jointStateHandle(joint_names_[i], &joint_positions_[i], &joint_velocities_[i], &joint_efforts_[i]); + joint_state_interface_.registerHandle(jointStateHandle); + + // Create position joint interface + JointHandle jointPositionHandle(jointStateHandle, &joint_position_commands_[i]); + position_joint_interface_.registerHandle(jointPositionHandle); + } + + // get encoder calibration + std::vector enc_steps_per_deg(num_joints_); + + for (int i = 0; i < num_joints_; ++i) { - if(cartesian_mode) + if(!nh_.getParam("/arm/hardware_driver/encoder_steps_per_deg/" + joint_names_[i], enc_steps_per_deg[i])) { - initFlag = true; - init(); - - // init ros controller manager - controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); - - nh_.param("/arm/hardware_interface/loop_hz", loop_hz_, 0.1); - ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); - ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); - non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::update, this); - - // initialize controller - for (int i = 0; i < num_joints_; ++i) - { - ROS_DEBUG_STREAM_NAMED("constructor", "Loading joint name: " << joint_names_[i]); - - // Create joint state interface - JointStateHandle jointStateHandle(joint_names_[i], &joint_positions_[i], &joint_velocities_[i], &joint_efforts_[i]); - joint_state_interface_.registerHandle(jointStateHandle); - - // Create position joint interface - JointHandle jointPositionHandle(jointStateHandle, &joint_position_commands_[i]); - position_joint_interface_.registerHandle(jointPositionHandle); - } - - // get encoder calibration - std::vector enc_steps_per_deg(num_joints_); - - for (int i = 0; i < num_joints_; ++i) - { - if(!nh_.getParam("/arm/hardware_driver/encoder_steps_per_deg/" + joint_names_[i], enc_steps_per_deg[i])) - { - ROS_WARN("Failed to get params for /arm/hardware_driver/encoder_steps_per_deg/"); - } - - if (!nh_.getParam("/arm/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) - { - ROS_WARN("Failed to get params for /arm/hardware_interface/joint_offsets/"); - } - - } - - // set velocity limits - for (int i = 0; i < num_joints_; ++i) - { - nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_velocity", velocity_limits_[i]); - nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_acceleration", acceleration_limits_[i]); - velocity_limits_[i] = radToDeg(velocity_limits_[i]); - acceleration_limits_[i] = radToDeg(acceleration_limits_[i]); - } - - // calibrate joints if needed - bool use_existing_calibrations = false; - nh_.getParam("/arm/hardware_interface/use_existing_calibrations", use_existing_calibrations); - if (!use_existing_calibrations) - { - // run calibration - ROS_INFO("Running joint calibration..."); - driver_.homeArm(); - } - - // init position commands at current positions - driver_.getJointPositions(actuator_positions_); - for (int i = 0; i < num_joints_; ++i) - { - // apply offsets, convert from deg to rad for moveit - joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); - joint_position_commands_[i] = joint_positions_[i]; - } - - registerInterface(&joint_state_interface_); - registerInterface(&position_joint_interface_); + ROS_WARN("Failed to get params for /arm/hardware_driver/encoder_steps_per_deg/"); } + + if (!nh_.getParam("/arm/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) + { + ROS_WARN("Failed to get params for /arm/hardware_interface/joint_offsets/"); + } + + } + + // set velocity limits + for (int i = 0; i < num_joints_; ++i) + { + nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_velocity", velocity_limits_[i]); + nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_acceleration", acceleration_limits_[i]); + velocity_limits_[i] = radToDeg(velocity_limits_[i]); + acceleration_limits_[i] = radToDeg(acceleration_limits_[i]); } + + for (int i = 0; i < num_joints_; ++i) + { + // assign zero angles initially + joint_positions_[i] = 0; + joint_position_commands_[i] = 0; + } + + registerInterface(&joint_state_interface_); + registerInterface(&position_joint_interface_); } ArmHardwareInterface::~ArmHardwareInterface() @@ -120,9 +99,34 @@ void ArmHardwareInterface::controllerModeCallBack(const std_msgs::Bool::ConstPtr } void ArmHardwareInterface::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { - if (!cartesian_mode) { - // TODO + + // TODO: ihsan implement snowbots message type + //actuator_positions_ = ___________ + + if (!cartesian_mode) + { + for (int i = 0; i < num_joints_; ++i) + { + // apply offsets, convert from deg to rad for moveit + joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); + joint_position_commands_[i] = joint_positions_[i]; + } } + else + { + read(); + controller_manager_->update(ros::Time::now(), elapsed_time_); + } +} + +void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent &e) +{ + elapsed_time_ = ros::Duration(e.current_real - e.last_real); + write(elapsed_time_); + + // TODO: ihsan inspect lines below + // sb_msgs::ArmPosition cmdPos = ________ + // pub_arm_pos.publish(cmdPos); } void ArmHardwareInterface::init() @@ -151,6 +155,8 @@ void ArmHardwareInterface::init() acceleration_limits_.resize(num_joints_); } +/* deprecated, for reference only + void ArmHardwareInterface::update(const ros::TimerEvent &e) { @@ -184,9 +190,12 @@ void ArmHardwareInterface::update(const ros::TimerEvent &e) } } +*/ + void ArmHardwareInterface::read() { - driver_.update(actuator_commands_, actuator_positions_); + // TODO: assign observed_msg components to actuator_positions_ + for (int i = 0; i < num_joints_; ++i) { // apply offsets, convert from deg to rad for moveit diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index 5dc76523a..7bcc69d72 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -91,8 +91,6 @@ int maxAngles[6] = {180, 140, 180, 120, 140, 100}; const unsigned long readInterval = 10; const unsigned long currentTime; const unsigned long previousTime = 0; -const unsigned long previousTimeJP = 0; -const unsigned long timeIntervalJP = 50; const unsigned long previousTimeEE = 0; const unsigned long timeIntervalEE = 100; @@ -155,12 +153,7 @@ void setup() { // setup function to initialize pins and provide initial homing t void loop() { - currentTime = millis(); - - if((currentTime - previousTime) > readInterval) { - recieveCommand(); - previousTime = currentTime; - } + recieveCommand(); if(jointFlag) runSteppers(); @@ -217,12 +210,20 @@ void parseMessage(String inMsg) { homeArm(); } + + else if(function == "JP") + { + readEncPos(curEncSteps); + sendCurrentPosition(); + } } //****//CARTESIAN MODE FUNCTIONS//****// void cartesianCommands(String inMsg) { + + jointFlag = false; // read current joint positions readEncPos(curEncSteps); @@ -252,6 +253,7 @@ void cartesianCommands(String inMsg) // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { + jointFlag = true; char function = inMsg[2]; char detail1 = inMsg[3]; @@ -262,19 +264,6 @@ void jointCommands(String inMsg) case axis: changeAxis(detail1); break; case move: jointMovement(detail1, inMsg[4]); break; } - - sendJointPosTimer(); -} - -void sendJointPosTimer -{ - long currentTime = millis(); //checks total runtime - long timeDiff = currentTime - previousTimeJP; //finds interval between runtime and previous checked time - if (timeDiff >= timeIntervalJP) - { - sendCurrentPosition(); - previousTimeJP = currentTime; - } } void endEffectorCommands(String inMsg) @@ -314,7 +303,7 @@ void sendForce(int forcePercent) if (timeDiff >= timeIntervalEE) { String force_value = String(forcePercent); - String force_message = "FV" + force_value; + String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %\n"); Serial.print(force_message); previousTimeEE = currentTime; } @@ -349,7 +338,7 @@ void manualDrill(char dir) void drillRelease() { - EE.stop(); + endEff.stop(); } void prepDrill() @@ -766,8 +755,6 @@ void homeEE() force=getForce(); //converting mass to force // close end effector endEff.run(); - //recording number of steps from calibration - calPos++; } //Set calibrated position as closed position endEff.setCurrentPosition(0); From ccbf09d7cfd97bb8e8772a317ee7906f0261f4a0 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Tue, 26 Jul 2022 09:41:56 -0700 Subject: [PATCH 021/124] updated force feedback flow --- .../include/armHardwareDriver.h | 8 ++++++- .../src/armHardwareDriver.cpp | 2 ++ src/teensy-firmware/src/armFirmware.cpp | 21 ++++++++++++------- 3 files changed, 22 insertions(+), 9 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index e42ad6be4..8479c2f07 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -102,10 +102,16 @@ class ArmHardwareDriver { const char garbage = 'G'; int num_joints_ = 6; + double ppr = 400.0; + double encppr = 512.0; + // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; - + static const double reductions[] = {50, 161, 93.07, 44.8, 57.34, 57.34}; + vector red (reductions, reductions + sizeof(reductions) / sizeof(reductions[0])); + + // timer variables double refresh_rate_hz = 10.0; ros::Timer arm_pos_timer; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 0419dcc06..2c5415698 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -200,6 +200,8 @@ void ArmHardwareDriver::endEffector(const char dir) outMsg += dir; outMsg += "\n"; sendMsg(outMsg); + // sending command to end effector results in force feedback being requested + recieveMsg(); } void ArmHardwareDriver::endEffectorRel() diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index 7bcc69d72..861f6bddd 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -108,6 +108,7 @@ int runFlags[] = {0, 0, 0, 0, 0, 0}; int i; bool initFlag = false; bool jointFlag = true; +bool IKFlag = false; // variables for homing / arm calibration long homePosConst = -99000; @@ -155,7 +156,7 @@ void loop() { recieveCommand(); - if(jointFlag) + if(!IKFlag) runSteppers(); else @@ -213,8 +214,11 @@ void parseMessage(String inMsg) else if(function == "JP") { + if(!IKFlag) + { readEncPos(curEncSteps); sendCurrentPosition(); + } } } @@ -257,14 +261,15 @@ void jointCommands(String inMsg) char function = inMsg[2]; char detail1 = inMsg[3]; - switch(function) - { - case release: releaseEvent(detail1, inMsg[4]); break; - case speed: changeSpeed(detail1); break; - case axis: changeAxis(detail1); break; - case move: jointMovement(detail1, inMsg[4]); break; + if(function == release) + releaseEvent(detail1, inMsg[4]); + else if(function == speed) + changeSpeed(detail1); + else if(function == axis) + changeAxis(detail1); + else if(function == move) + jointMovement(detail1, inMsg[4]); } -} void endEffectorCommands(String inMsg) { From 530d4ac37a5a50dd603e53776bf63993b96f6a7e Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Tue, 26 Jul 2022 09:48:10 -0700 Subject: [PATCH 022/124] updated force feedback flow --- src/teensy-firmware/src/armFirmware.cpp | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index 861f6bddd..558cebcb4 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -214,14 +214,24 @@ void parseMessage(String inMsg) else if(function == "JP") { - if(!IKFlag) + if(IKFlag) { - readEncPos(curEncSteps); - sendCurrentPosition(); + sendMessage('X'); + } + else + { + readEncPos(curEncSteps); + sendCurrentPosition(); } } } +void sendMessage(char outChar) +{ + String outMsg = String(outChar) + String("\n"); + Serial.print(outMsg); +} + //****//CARTESIAN MODE FUNCTIONS//****// void cartesianCommands(String inMsg) @@ -312,6 +322,8 @@ void sendForce(int forcePercent) Serial.print(force_message); previousTimeEE = currentTime; } + + sendMessage('X'); } void drillMotion(String inMsg) From 9c6e28576c1ac8c139d7dd932bfd749c8316fd64 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Tue, 26 Jul 2022 22:39:13 -0700 Subject: [PATCH 023/124] updated teensy firmware to fix compiler errors, restructured joint position sending while in joint mode --- .../src/armHardwareDriver.cpp | 13 +- src/teensy-firmware/src/armFirmware.cpp | 148 +-- src/teensy-firmware/src/armFirmware.ino | 885 ++++++++++++++++++ 3 files changed, 971 insertions(+), 75 deletions(-) create mode 100644 src/teensy-firmware/src/armFirmware.ino diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 2c5415698..b7086190b 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -22,9 +22,6 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam sub_command_pos = nh.subscribe("/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); - ros::Duration pos_update_freq = ros::Duration(1.0/refresh_rate_hz); - arm_pos_timer = nh.createTimer(pos_update_freq, &ArmHardwareDriver::requestArmPosition, this); - // Get Params SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port @@ -44,7 +41,6 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam } } - // Callback function to relay pro controller messages to teensy MCU on arm via rosserial void ArmHardwareDriver::teensySerialCallback(std_msgs::String& inMsg) { parseInput(inMsg.data); @@ -161,6 +157,7 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) outMsg += dir; outMsg += "\n"; sendMsg(outMsg); + recieveMsg(); } void ArmHardwareDriver::changeSpeed(const char dir) @@ -364,14 +361,6 @@ void ArmHardwareDriver::recieveMsg(std::string& inMsg) } -void ArmHardwareDriver::requestArmPosition() -{ - std::string outMsg = "JP"; - outMsg += "\n"; - sendMsg(outMsg); - recieveMsg() -} - void ArmHardwareDriver::updateHWInterface() { // TODO: Ihsan fill in correct message implementation diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp index 558cebcb4..e5cd6f37a 100644 --- a/src/teensy-firmware/src/armFirmware.cpp +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -7,6 +7,7 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU #include #include +#include // general parameters #define NUM_AXES 6 @@ -44,7 +45,7 @@ static const char drillRelease = 'X'; int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; int pprEnc = 512; -int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; +int ENC_DIR[6] = {1, -1, -1, -1, 1, -1}; const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; // Motor variables @@ -57,7 +58,7 @@ int encPinB[6] = {16, 37, 39, 35, 14, 41}; // end effector variables const int maxForce = 30; // needs to be checked -const float calibrationFactor = -111.25 +const float calibrationFactor = -111.25; float force; HX711 scale; int calPos = 0; @@ -89,16 +90,26 @@ int maxAngles[6] = {180, 140, 180, 120, 140, 100}; // Time variables const unsigned long readInterval = 10; -const unsigned long currentTime; -const unsigned long previousTime = 0; -const unsigned long previousTimeEE = 0; +unsigned long currentTime; +unsigned long previousTime = 0; +unsigned long previousTimeEE = 0; const unsigned long timeIntervalEE = 100; +const unsigned long timeIntervalJP = 100; +unsigned long previousTimeJP = 0; // stepper motor objects for AccelStepper library AccelStepper steppers[8]; AccelStepper endEff(1, EEstepPin, EEdirPin); AccelStepper steppersIK[8]; -Encoder encoders[6]; + +Encoder enc1(encPinA[0], encPinB[0]); +Encoder enc2(encPinA[1], encPinB[1]); +Encoder enc3(encPinA[2], encPinB[2]); +Encoder enc4(encPinA[3], encPinB[3]); +Encoder enc5(encPinA[4], encPinB[4]); +Encoder enc6(encPinA[5], encPinB[5]); + +Encoder encoders[] = {enc1, enc2, enc3, enc4, enc5, enc6}; // variable declarations long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; @@ -138,7 +149,6 @@ void setup() { // setup function to initialize pins and provide initial homing t pinMode(dirPinsIK[i], OUTPUT); steppersIK[i] = AccelStepper(1, stepPinsIK[i], dirPinsIK[i]); steppersIK[i].setMinPulseWidth(200); - encoders[i] = Encoder(encPinA[i], encPinB[i]); } for(i = 0; i0) { do { @@ -189,12 +200,14 @@ void parseMessage(String inMsg) { cartesianCommands(inMsg); IKFlag = true; + jointFlag = false; } else if(function == "JM") { jointCommands(inMsg); IKFlag = false; + jointFlag = true; } else if(function == "EE") @@ -211,19 +224,6 @@ void parseMessage(String inMsg) { homeArm(); } - - else if(function == "JP") - { - if(IKFlag) - { - sendMessage('X'); - } - else - { - readEncPos(curEncSteps); - sendCurrentPosition(); - } - } } void sendMessage(char outChar) @@ -236,8 +236,6 @@ void sendMessage(char outChar) void cartesianCommands(String inMsg) { - - jointFlag = false; // read current joint positions readEncPos(curEncSteps); @@ -267,7 +265,10 @@ void cartesianCommands(String inMsg) // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { - jointFlag = true; + // update HW interface with joint positions + readEncPos(curEncSteps); + sendPosNonIK(); + char function = inMsg[2]; char detail1 = inMsg[3]; @@ -275,7 +276,7 @@ void jointCommands(String inMsg) releaseEvent(detail1, inMsg[4]); else if(function == speed) changeSpeed(detail1); - else if(function == axis) + else if(function == change) changeAxis(detail1); else if(function == move) jointMovement(detail1, inMsg[4]); @@ -323,21 +324,37 @@ void sendForce(int forcePercent) previousTimeEE = currentTime; } - sendMessage('X'); + else + sendMessage('X'); } -void drillMotion(String inMsg) +void sendPosNonIK() { - char function = inMsg[2]; - - switch(function) + long currentTime = millis(); //checks total runtime + long timeDiff = currentTime - previousTimeJP; //finds interval between runtime and previous checked time + if (timeDiff >= timeIntervalJP) { - case manual: manualDrill(inMsg[3]); break; - case drillRelease: stopDrill(); break; - case prepare: prepDrill(); break; - case collect: collectSample(); break; - case deposit: depositSample(); break; + sendCurrentPosition(); } + + else + sendMessage('X'); +} + +void drillCommands(String inMsg) +{ + char function = inMsg[2]; + + if(function == manual) + manualDrill(inMsg[3]); + else if(function == drillRelease) + stopDrill(); + else if(function == prepare) + prepDrill(); + else if(function == collect) + collectSample(); + else if(function == deposit) + depositSample(); } void manualDrill(char dir) @@ -353,7 +370,7 @@ void manualDrill(char dir) } } -void drillRelease() +void stopDrill() { endEff.stop(); } @@ -385,32 +402,31 @@ void jointMovement(char joystick, char dir) { if(joystick == wrist) { - switch(dir) - { - case up: runWrist(FWD, 5); break; - case down: runWrist(REV, 5); break; - case left: runWrist(FWD, 6); break; - case right: runWrist(REV, 6); break; - } + if(dir == up) + runWrist(FWD, 5); + else if(dir == down) + runWrist(REV, 5); + else if(dir == left) + runWrist(FWD, 6); + else if(dir == right) + runWrist(REV, 6); } else if(joystick == left) { - switch(dir) - { - case left: runAxes(FWD, currentAxis); break; - case right: runAxes(REV, currentAxis); break; - } + if(dir == left) + runAxes(FWD, currentAxis); + else if(dir == right) + runAxes(REV, currentAxis); } else { - switch(dir) - { - case up: runAxes(FWD, currentAxis+1); break; - case down: runAxes(REV, currentAxis+1); break; - } - } + if(dir == up) + runAxes(FWD, currentAxis+1); + else if(dir == down) + runAxes(REV, currentAxis+1); + } } //****//ENCODER RELATED FUNCTIONS//****// @@ -421,6 +437,10 @@ void readEncPos(int* encPos) { encPos[i] = encoders[i].read()*ENC_DIR[i]; } + + int temp = encPos[4]; + encPos[4] = temp + encPos[5]; + encPos[5] = encPos[5] - temp; } void zeroEncoders() @@ -453,12 +473,14 @@ void cmdArmBase() void cmdArmWrist() { - int diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; - int diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; + int diffMotStepsA5, diffMotStepsA6, diffEncStepsA5, diffEncStepsA6; + + diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; + diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; if(abs(diffEncStepsA5) > 2) { - int diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; + diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; if(diffMotStepsA5 < ppr[i]) { diffMotStepsA5 = diffEncStepsA5 / 2; @@ -467,7 +489,7 @@ void cmdArmWrist() if(abs(diffEncStepsA6) > 2) { - int diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; + diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; if(diffMotStepsA6 < ppr[i]) { diffMotStepsA6 = diffEncStepsA6 / 2; @@ -590,13 +612,13 @@ void releaseEvent(char joystick, char dir) { // when user releases a joystick se else if(joystick == left) { steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); + runFlags[currentAxis-1] = 0; } else { steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); + runFlags[currentAxis] = 0; } } @@ -765,7 +787,7 @@ void homeEE() { int force = getForce(); // target position for end effector in closed direction - endEff.move(-99000*MOTOR_DIR); + endEff.move(-99000*MOTOR_DIR_EE); while(force < 100) { @@ -829,7 +851,7 @@ void runSteppers() { // runs all stepper motors (if no target position has been steppers[i].run(); } - EE.run(); + endEff.run(); } void runSteppersIK() { // runs all stepper motors (if no target position has been assigned, stepper will not move) @@ -853,7 +875,7 @@ void waitForHome() { // stops arm motion until user homes arm after firmware is if(Serial.available() > 0) { recieved = Serial.read(); - inData += String(recieved) + inData += String(recieved); if(recieved == '\n') { serialFlag = true; diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.ino new file mode 100644 index 000000000..51127e8ce --- /dev/null +++ b/src/teensy-firmware/src/armFirmware.ino @@ -0,0 +1,885 @@ +/* +Created By: Tate Kolton, Rowan Zawadzki +Created On: December 21, 2021 +Updated: April 27, 2022 +Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU +*/ + +#include +#include + +// general parameters +#define NUM_AXES 6 +#define NUM_AXES_EX_WRIST 4 +#define NUM_AXES_EFF 8 +#define NUM_PARAMS 7 +#define ON 0 +#define OFF 1 +#define SW_ON 0 +#define SW_OFF 1 +#define FWD 1 +#define REV 0 + +static const char release = 'R'; +static const char move = 'M'; +static const char change = 'A'; +static const char speed = 'S'; +static const char right = 'R'; +static const char left = 'L'; +static const char up = 'U'; +static const char down = 'D'; +static const char wrist = 'W'; +static const char garbage = 'G'; +static const char faster = 'U'; +static const char slower = 'D'; +static const char open = left; +static const char close = right; +static const char prepare = 'P'; +static const char collect = 'C'; +static const char deposit = 'D'; +static const char manual = 'M'; +static const char drillRelease = 'X'; + +// Encoder Variables + +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; +int pprEnc = 512; +int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; +const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; + +// Motor variables +int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; +int dirPins[8] = {5, 7, 9, 1, 11, 24, 11, 24}; +int stepPinsIK[6] = {6, 8, 2, 10, 25, 12}; +int dirPinsIK[6] = {5, 7, 1, 9, 24, 11}; +int encPinA[6] = {17, 38, 40, 36, 15, 13}; +int encPinB[6] = {16, 37, 39, 35, 14, 41}; + +// end effector variables +const int maxForce = 30; // needs to be checked +const float calibrationFactor = -111.25 +float force; +HX711 scale; +int calPos = 0; +int closePos = 0; +int openPos = 2000; // needs to be calibrated +int EEstepPin = 20; +int EEdirPin = 21; +int speedEE = 1000; +int accEE = 5000; +const int MOTOR_DIR_EE = 1; + +// limit switch pins +int limPins[6] = {18, 19, 21, 20, 23, 22}; + +// pulses per revolution for motors +long ppr[6] = {400, 400, 400, 400, 400, 400}; + +// Gear Reduction Ratios +float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; + +// Motor speeds and accelerations +int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; +int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; +int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; + +// Range of motion (degrees) for each axis +int maxAngles[6] = {180, 140, 180, 120, 140, 100}; + +// Time variables +const unsigned long readInterval = 10; +const unsigned long currentTime; +const unsigned long previousTime = 0; +const unsigned long previousTimeEE = 0; +const unsigned long timeIntervalEE = 100; +const unsigned long timeIntervalJP = 100; +const unsigned long previousTimeJP = 0; + +// stepper motor objects for AccelStepper library +AccelStepper steppers[8]; +AccelStepper endEff(1, EEstepPin, EEdirPin); +AccelStepper steppersIK[8]; +Encoder encoders[6]; + +// variable declarations +long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; +int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; +int currentAxis = 1; +int runFlags[] = {0, 0, 0, 0, 0, 0}; +int i; +bool initFlag = false; +bool jointFlag = true; +bool IKFlag = false; + +// variables for homing / arm calibration +long homePosConst = -99000; +long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; +long homeCompAngles[] = {axisDir[0]*93, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; +long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; +long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; +char value; + +// values for changing speed +const int maxSpeedIndex = 2; +int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; +int speedIndex = maxSpeedIndex; + +void setup() { // setup function to initialize pins and provide initial homing to the arm + + Serial.begin(9600); + + // initializes end effector motor + pinMode(EEstepPin, OUTPUT); + pinMode(EEdirPin, OUTPUT); + + // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library + for(i = 0; i0) + { + do { + recieved = Serial.read(); + inData += String(recieved); + } while(recieved != '\n'); + } + + if(recieved == '\n') + { + parseMessage(inData); + } +} + +void parseMessage(String inMsg) +{ + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + IKFlag = true; + jointFlag = false; + } + + else if(function == "JM") + { + jointCommands(inMsg); + IKFlag = false; + jointFlag = true; + } + + else if(function == "EE") + { + endEffectorCommands(inMsg); + } + + else if(function == "DM") + { + drillCommands(inMsg); + } + + else if(function == "HM") + { + homeArm(); + } +} + +void sendMessage(char outChar) +{ + String outMsg = String(outChar) + String("\n"); + Serial.print(outMsg); +} + +//****//CARTESIAN MODE FUNCTIONS//****// + +void cartesianCommands(String inMsg) +{ + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + sendCurrentPosition(); + + // get new position commands + int msgIdxJ1 = inMsg.indexOf('A'); + int msgIdxJ2 = inMsg.indexOf('B'); + int msgIdxJ3 = inMsg.indexOf('C'); + int msgIdxJ4 = inMsg.indexOf('D'); + int msgIdxJ5 = inMsg.indexOf('E'); + int msgIdxJ6 = inMsg.indexOf('F'); + cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + cmdArmBase(); + cmdArmWrist(); +} + +// parses which commands to execute when in joint space mode +void jointCommands(String inMsg) +{ + // update HW interface with joint positions + readEncPos(curEncSteps); + sendPosNonIK(); + + char function = inMsg[2]; + char detail1 = inMsg[3]; + + if(function == release) + releaseEvent(detail1, inMsg[4]); + else if(function == speed) + changeSpeed(detail1); + else if(function == axis) + changeAxis(detail1); + else if(function == move) + jointMovement(detail1, inMsg[4]); + } + +void endEffectorCommands(String inMsg) +{ + char data = inMsg[2]; + int force = getForce(); + + //opening code + if ((data == open) && (force < 100)) { //check if open button pressed and if force is less than max + endEff.moveTo(openPos*MOTOR_DIR_EE); //continue to move to open position + } + + //closing code + else if ((data == close) && (force < 100)) { //check if open button pressed and if force is less than max + endEff.moveTo(closePos*MOTOR_DIR_EE); //continue to move to closed position + } + + else if ((data == release) || (force >= 100)) { //else check if release button pressed + endEff.stop(); // stop when above condition reached + } + + // need to only send force if a certain time interval defined by timeVal has passed + sendForce(force); +} + +int getForce() +{ + force=scale.get_units()/1000*9.81; + int forcePercent = force*100/maxForce; + return forcePercent; +} + +void sendForce(int forcePercent) +{ + long currentTime = millis(); //checks total runtime + long timeDiff = currentTime - previousTimeEE; //finds interval between runtime and previous checked time + if (timeDiff >= timeIntervalEE) + { + String force_value = String(forcePercent); + String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %\n"); + Serial.print(force_message); + previousTimeEE = currentTime; + } + + else + sendMessage('X'); +} + +void sendPosNonIK() +{ + long currentTime = millis(); //checks total runtime + long timeDiff = currentTime - previousTimeJP; //finds interval between runtime and previous checked time + if (timeDiff >= timeIntervalJP) + { + sendCurrentPosition(); + } + + else + sendMessage('X'); +} + +void drillMotion(String inMsg) +{ + char function = inMsg[2]; + + if(function == manual) + manualDrill(inMsg[3]); + else if(functino == drillRelease) + stopDrill(); + else if(function == prepare) + prepDrill(); + else if(function == collect) + collectSample(); + else if(function == deposit) + depositSample(); +} + +void manualDrill(char dir) +{ + if(dir == left) + { + endEff.move(1000); + } + + else + { + endEff.move(-1000); + } +} + +void drillRelease() +{ + endEff.stop(); +} + +void prepDrill() +{ + +} + +void collectSample() +{ + +} + +void depositSample() +{ + +} + +void sendCurrentPosition() +{ + String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(outMsg); +} + +// Sets movement target positions when in joint space mode +void jointMovement(char joystick, char dir) +{ + if(joystick == wrist) + { + if(dir == up) + runWrist(FWD, 5); + else if(dir == down) + runWrist(REV, 5); + else if(dir == left) + runWrist(FWD, 6); + else if(dir == right) + runWrist(REV, 6); + } + + else if(joystick == left) + { + if(dir == left) + runAxes(FWD, currentAxis); + else if(dir == right) + runAxes(REV, currentAxis); + } + + else + { + if(dir == up) + runAxes(FWD, currentAxis+1); + else if(dir == down) + runAxes(REV, currentAxis+1); + } +} + +//****//ENCODER RELATED FUNCTIONS//****// + +void readEncPos(int* encPos) +{ + for(i=0; i 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < ppr[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + + steppersIK[i].move(diffMotSteps); + } + } +} + +void cmdArmWrist() +{ + int diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; + int diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; + + if(abs(diffEncStepsA5) > 2) + { + int diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; + if(diffMotStepsA5 < ppr[i]) + { + diffMotStepsA5 = diffEncStepsA5 / 2; + } + } + + if(abs(diffEncStepsA6) > 2) + { + int diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; + if(diffMotStepsA6 < ppr[i]) + { + diffMotStepsA6 = diffEncStepsA6 / 2; + } + } + + int actualMotStepsA5 = diffMotStepsA5/2 + diffMotStepsA6/2; + int actualMotStepsA6 = diffMotStepsA6/2 - diffMotStepsA5/2; + + steppersIK[4].move(actualMotStepsA5); + steppersIK[5].move(actualMotStepsA6); +} + + + +//****//JOINT SPACE MODE FUNCTIONS//****// + +// sets target position for axes in joint space mode +void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position + + if(axis == 3) { + dir = !dir; + } + + if(runFlags[axis-1] == 1 && dir == FWD) { + } + + else if(runFlags[axis-1] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); + runFlags[axis-1] = 1; + } + + else { + steppers[axis-1].moveTo(0); + runFlags[axis-1] = -1; + } +} + +void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. + + if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions + if(runFlags[5] == 1 && dir == FWD) { + } + + else if(runFlags[5] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[6].moveTo(axisDir[6]*max_steps[5]); + steppers[7].moveTo(axisDir[7]*max_steps[5]); + runFlags[5] = 1; + } + + else { + steppers[6].moveTo(0); + steppers[7].moveTo(0); + runFlags[5] = -1; + } + } + + else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction + dir = !dir; + if(runFlags[4] == 1 && dir == FWD) { + } + + else if(runFlags[4] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[4].moveTo(axisDir[4]*max_steps[4]); + steppers[5].moveTo(axisDir[5]*max_steps[4]); + runFlags[4] = 1; + } + + else { + steppers[4].moveTo(0); + steppers[5].moveTo(0); + runFlags[4] = -1; + } + } +} + +void changeAxis(int dir) { // when user hits specified button, axis targets change + + if((dir == up) && (currentAxis == 1)) + { + currentAxis = 3; + zeroRunFlags(); + } + + else if((dir == down) && (currentAxis == 3)) + { + currentAxis = 1; + zeroRunFlags(); + } +} + +void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character + + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) + { + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; + } + + else + { + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; + } + } + + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } +} + +void changeSpeed(char speedVal) { // changes speed of all axes based on user input + + if(speedVal == faster){ + if(speedIndex < maxSpeedIndex) { + speedIndex++; + for(i=0;i 0) { + speedIndex--; + for(i=0;i 0) + { + recieved = Serial.read(); + inData += String(recieved) + if(recieved == '\n') + { + serialFlag = true; + } + } + + if(serialFlag) + { + if(inData = "HM") + { + homeArm(); + initFlag = true; + } + + else + { + inData = ""; + serialFlag = false; + } + } + } +} \ No newline at end of file From 4bce86c1c48b3cfb5cf6825412b4d50ca74626c3 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Wed, 27 Jul 2022 12:17:01 -0700 Subject: [PATCH 024/124] Populate and receive vector in sb_msgs/ArmPosition message --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index b7086190b..2f4e6aca7 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -250,7 +250,7 @@ void ArmHardwareDriver::homeArm() { void ArmHardwareDriver::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // TODO: ihsan fill std::vector type with sb_msgs values - armCmd = // _________ + armCmd.assign(observed_msg.positions.begin(), observed_msg.positions.end()); jointPosToEncSteps(armCmd, encCmd); std::string outMsg = "MT"; @@ -364,7 +364,8 @@ void ArmHardwareDriver::recieveMsg(std::string& inMsg) void ArmHardwareDriver::updateHWInterface() { // TODO: Ihsan fill in correct message implementation - //sb_msgs::ArmPosition outMsg = _____ - //pub_observed_pos.publish(outMsg); + sb_msgs::ArmPosition outMsg; + outMsg.positions.assign(armPos.begin(), armPos.end()); + pub_observed_pos.publish(outMsg); } From 18e731a8e924c06ceb6ebcef982428439a0a8e77 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 27 Jul 2022 14:30:53 -0700 Subject: [PATCH 025/124] adjusted arm motion parameters --- src/teensy-firmware/src/armFirmware.cpp | 900 ------------------ .../src/{ => armFirmware}/armFirmware.ino | 89 +- 2 files changed, 56 insertions(+), 933 deletions(-) delete mode 100644 src/teensy-firmware/src/armFirmware.cpp rename src/teensy-firmware/src/{ => armFirmware}/armFirmware.ino (92%) diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp deleted file mode 100644 index e5cd6f37a..000000000 --- a/src/teensy-firmware/src/armFirmware.cpp +++ /dev/null @@ -1,900 +0,0 @@ -/* -Created By: Tate Kolton, Rowan Zawadzki -Created On: December 21, 2021 -Updated: April 27, 2022 -Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU -*/ - -#include -#include -#include - -// general parameters -#define NUM_AXES 6 -#define NUM_AXES_EX_WRIST 4 -#define NUM_AXES_EFF 8 -#define NUM_PARAMS 7 -#define ON 0 -#define OFF 1 -#define SW_ON 0 -#define SW_OFF 1 -#define FWD 1 -#define REV 0 - -static const char release = 'R'; -static const char move = 'M'; -static const char change = 'A'; -static const char speed = 'S'; -static const char right = 'R'; -static const char left = 'L'; -static const char up = 'U'; -static const char down = 'D'; -static const char wrist = 'W'; -static const char garbage = 'G'; -static const char faster = 'U'; -static const char slower = 'D'; -static const char open = left; -static const char close = right; -static const char prepare = 'P'; -static const char collect = 'C'; -static const char deposit = 'D'; -static const char manual = 'M'; -static const char drillRelease = 'X'; - -// Encoder Variables - -int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; -int pprEnc = 512; -int ENC_DIR[6] = {1, -1, -1, -1, 1, -1}; -const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; - -// Motor variables -int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; -int dirPins[8] = {5, 7, 9, 1, 11, 24, 11, 24}; -int stepPinsIK[6] = {6, 8, 2, 10, 25, 12}; -int dirPinsIK[6] = {5, 7, 1, 9, 24, 11}; -int encPinA[6] = {17, 38, 40, 36, 15, 13}; -int encPinB[6] = {16, 37, 39, 35, 14, 41}; - -// end effector variables -const int maxForce = 30; // needs to be checked -const float calibrationFactor = -111.25; -float force; -HX711 scale; -int calPos = 0; -int closePos = 0; -int openPos = 2000; // needs to be calibrated -int EEstepPin = 20; -int EEdirPin = 21; -int speedEE = 1000; -int accEE = 5000; -const int MOTOR_DIR_EE = 1; - -// limit switch pins -int limPins[6] = {18, 19, 21, 20, 23, 22}; - -// pulses per revolution for motors -long ppr[6] = {400, 400, 400, 400, 400, 400}; - -// Gear Reduction Ratios -float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; - -// Motor speeds and accelerations -int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; -int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; -int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; -int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; - -// Range of motion (degrees) for each axis -int maxAngles[6] = {180, 140, 180, 120, 140, 100}; - -// Time variables -const unsigned long readInterval = 10; -unsigned long currentTime; -unsigned long previousTime = 0; -unsigned long previousTimeEE = 0; -const unsigned long timeIntervalEE = 100; -const unsigned long timeIntervalJP = 100; -unsigned long previousTimeJP = 0; - -// stepper motor objects for AccelStepper library -AccelStepper steppers[8]; -AccelStepper endEff(1, EEstepPin, EEdirPin); -AccelStepper steppersIK[8]; - -Encoder enc1(encPinA[0], encPinB[0]); -Encoder enc2(encPinA[1], encPinB[1]); -Encoder enc3(encPinA[2], encPinB[2]); -Encoder enc4(encPinA[3], encPinB[3]); -Encoder enc5(encPinA[4], encPinB[4]); -Encoder enc6(encPinA[5], encPinB[5]); - -Encoder encoders[] = {enc1, enc2, enc3, enc4, enc5, enc6}; - -// variable declarations -long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; -int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; -int currentAxis = 1; -int runFlags[] = {0, 0, 0, 0, 0, 0}; -int i; -bool initFlag = false; -bool jointFlag = true; -bool IKFlag = false; - -// variables for homing / arm calibration -long homePosConst = -99000; -long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*93, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; -long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; -long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; -long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; -char value; - -// values for changing speed -const int maxSpeedIndex = 2; -int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; -int speedIndex = maxSpeedIndex; - -void setup() { // setup function to initialize pins and provide initial homing to the arm - - Serial.begin(9600); - - // initializes end effector motor - pinMode(EEstepPin, OUTPUT); - pinMode(EEdirPin, OUTPUT); - - // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library - for(i = 0; i0) - { - do { - recieved = Serial.read(); - inData += String(recieved); - } while(recieved != '\n'); - } - - if(recieved == '\n') - { - parseMessage(inData); - } -} - -void parseMessage(String inMsg) -{ - String function = inMsg.substring(0, 2); - - if(function == "MT") - { - cartesianCommands(inMsg); - IKFlag = true; - jointFlag = false; - } - - else if(function == "JM") - { - jointCommands(inMsg); - IKFlag = false; - jointFlag = true; - } - - else if(function == "EE") - { - endEffectorCommands(inMsg); - } - - else if(function == "DM") - { - drillCommands(inMsg); - } - - else if(function == "HM") - { - homeArm(); - } -} - -void sendMessage(char outChar) -{ - String outMsg = String(outChar) + String("\n"); - Serial.print(outMsg); -} - -//****//CARTESIAN MODE FUNCTIONS//****// - -void cartesianCommands(String inMsg) -{ - // read current joint positions - readEncPos(curEncSteps); - - // update host with joint positions - sendCurrentPosition(); - - // get new position commands - int msgIdxJ1 = inMsg.indexOf('A'); - int msgIdxJ2 = inMsg.indexOf('B'); - int msgIdxJ3 = inMsg.indexOf('C'); - int msgIdxJ4 = inMsg.indexOf('D'); - int msgIdxJ5 = inMsg.indexOf('E'); - int msgIdxJ6 = inMsg.indexOf('F'); - cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); - cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); - cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); - cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); - cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); - cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); - - // update target joint positions - readEncPos(curEncSteps); - cmdArmBase(); - cmdArmWrist(); -} - -// parses which commands to execute when in joint space mode -void jointCommands(String inMsg) -{ - // update HW interface with joint positions - readEncPos(curEncSteps); - sendPosNonIK(); - - char function = inMsg[2]; - char detail1 = inMsg[3]; - - if(function == release) - releaseEvent(detail1, inMsg[4]); - else if(function == speed) - changeSpeed(detail1); - else if(function == change) - changeAxis(detail1); - else if(function == move) - jointMovement(detail1, inMsg[4]); - } - -void endEffectorCommands(String inMsg) -{ - char data = inMsg[2]; - int force = getForce(); - - //opening code - if ((data == open) && (force < 100)) { //check if open button pressed and if force is less than max - endEff.moveTo(openPos*MOTOR_DIR_EE); //continue to move to open position - } - - //closing code - else if ((data == close) && (force < 100)) { //check if open button pressed and if force is less than max - endEff.moveTo(closePos*MOTOR_DIR_EE); //continue to move to closed position - } - - else if ((data == release) || (force >= 100)) { //else check if release button pressed - endEff.stop(); // stop when above condition reached - } - - // need to only send force if a certain time interval defined by timeVal has passed - sendForce(force); -} - -int getForce() -{ - force=scale.get_units()/1000*9.81; - int forcePercent = force*100/maxForce; - return forcePercent; -} - -void sendForce(int forcePercent) -{ - long currentTime = millis(); //checks total runtime - long timeDiff = currentTime - previousTimeEE; //finds interval between runtime and previous checked time - if (timeDiff >= timeIntervalEE) - { - String force_value = String(forcePercent); - String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %\n"); - Serial.print(force_message); - previousTimeEE = currentTime; - } - - else - sendMessage('X'); -} - -void sendPosNonIK() -{ - long currentTime = millis(); //checks total runtime - long timeDiff = currentTime - previousTimeJP; //finds interval between runtime and previous checked time - if (timeDiff >= timeIntervalJP) - { - sendCurrentPosition(); - } - - else - sendMessage('X'); -} - -void drillCommands(String inMsg) -{ - char function = inMsg[2]; - - if(function == manual) - manualDrill(inMsg[3]); - else if(function == drillRelease) - stopDrill(); - else if(function == prepare) - prepDrill(); - else if(function == collect) - collectSample(); - else if(function == deposit) - depositSample(); -} - -void manualDrill(char dir) -{ - if(dir == left) - { - endEff.move(1000); - } - - else - { - endEff.move(-1000); - } -} - -void stopDrill() -{ - endEff.stop(); -} - -void prepDrill() -{ - -} - -void collectSample() -{ - -} - -void depositSample() -{ - -} - -void sendCurrentPosition() -{ - String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); - Serial.print(outMsg); -} - -// Sets movement target positions when in joint space mode -void jointMovement(char joystick, char dir) -{ - if(joystick == wrist) - { - if(dir == up) - runWrist(FWD, 5); - else if(dir == down) - runWrist(REV, 5); - else if(dir == left) - runWrist(FWD, 6); - else if(dir == right) - runWrist(REV, 6); - } - - else if(joystick == left) - { - if(dir == left) - runAxes(FWD, currentAxis); - else if(dir == right) - runAxes(REV, currentAxis); - } - - else - { - if(dir == up) - runAxes(FWD, currentAxis+1); - else if(dir == down) - runAxes(REV, currentAxis+1); - } -} - -//****//ENCODER RELATED FUNCTIONS//****// - -void readEncPos(int* encPos) -{ - for(i=0; i 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < ppr[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - - steppersIK[i].move(diffMotSteps); - } - } -} - -void cmdArmWrist() -{ - int diffMotStepsA5, diffMotStepsA6, diffEncStepsA5, diffEncStepsA6; - - diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; - diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; - - if(abs(diffEncStepsA5) > 2) - { - diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; - if(diffMotStepsA5 < ppr[i]) - { - diffMotStepsA5 = diffEncStepsA5 / 2; - } - } - - if(abs(diffEncStepsA6) > 2) - { - diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; - if(diffMotStepsA6 < ppr[i]) - { - diffMotStepsA6 = diffEncStepsA6 / 2; - } - } - - int actualMotStepsA5 = diffMotStepsA5/2 + diffMotStepsA6/2; - int actualMotStepsA6 = diffMotStepsA6/2 - diffMotStepsA5/2; - - steppersIK[4].move(actualMotStepsA5); - steppersIK[5].move(actualMotStepsA6); -} - - - -//****//JOINT SPACE MODE FUNCTIONS//****// - -// sets target position for axes in joint space mode -void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position - - if(axis == 3) { - dir = !dir; - } - - if(runFlags[axis-1] == 1 && dir == FWD) { - } - - else if(runFlags[axis-1] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); - runFlags[axis-1] = 1; - } - - else { - steppers[axis-1].moveTo(0); - runFlags[axis-1] = -1; - } -} - -void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. - - if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions - if(runFlags[5] == 1 && dir == FWD) { - } - - else if(runFlags[5] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[6].moveTo(axisDir[6]*max_steps[5]); - steppers[7].moveTo(axisDir[7]*max_steps[5]); - runFlags[5] = 1; - } - - else { - steppers[6].moveTo(0); - steppers[7].moveTo(0); - runFlags[5] = -1; - } - } - - else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction - dir = !dir; - if(runFlags[4] == 1 && dir == FWD) { - } - - else if(runFlags[4] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[4].moveTo(axisDir[4]*max_steps[4]); - steppers[5].moveTo(axisDir[5]*max_steps[4]); - runFlags[4] = 1; - } - - else { - steppers[4].moveTo(0); - steppers[5].moveTo(0); - runFlags[4] = -1; - } - } -} - -void changeAxis(int dir) { // when user hits specified button, axis targets change - - if((dir == up) && (currentAxis == 1)) - { - currentAxis = 3; - zeroRunFlags(); - } - - else if((dir == down) && (currentAxis == 3)) - { - currentAxis = 1; - zeroRunFlags(); - } -} - -void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character - - if(joystick == wrist) - { - if ((dir == up) || (dir == down)) - { - steppers[6].stop(); - steppers[7].stop(); - runFlags[5] = 0; - } - - else - { - steppers[4].stop(); - steppers[5].stop(); - runFlags[4] = 0; - } - } - - else if(joystick == left) - { - steppers[currentAxis-1].stop(); - runFlags[currentAxis-1] = 0; - } - - else - { - steppers[currentAxis].stop(); - runFlags[currentAxis] = 0; - } -} - -void changeSpeed(char speedVal) { // changes speed of all axes based on user input - - if(speedVal == faster){ - if(speedIndex < maxSpeedIndex) { - speedIndex++; - for(i=0;i 0) { - speedIndex--; - for(i=0;i 0) - { - recieved = Serial.read(); - inData += String(recieved); - if(recieved == '\n') - { - serialFlag = true; - } - } - - if(serialFlag) - { - if(inData = "HM") - { - homeArm(); - initFlag = true; - } - - else - { - inData = ""; - serialFlag = false; - } - } - } -} \ No newline at end of file diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino similarity index 92% rename from src/teensy-firmware/src/armFirmware.ino rename to src/teensy-firmware/src/armFirmware/armFirmware.ino index 51127e8ce..2b3f3c387 100644 --- a/src/teensy-firmware/src/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -7,6 +7,7 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU #include #include +#include // general parameters #define NUM_AXES 6 @@ -44,7 +45,7 @@ static const char drillRelease = 'X'; int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; int pprEnc = 512; -int ENC_DIR[6] = {1, 1, -1, -1, -1, -1}; +int ENC_DIR[6] = {1, -1, -1, -1, 1, -1}; const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; // Motor variables @@ -57,7 +58,7 @@ int encPinB[6] = {16, 37, 39, 35, 14, 41}; // end effector variables const int maxForce = 30; // needs to be checked -const float calibrationFactor = -111.25 +const float calibrationFactor = -111.25; float force; HX711 scale; int calPos = 0; @@ -81,7 +82,7 @@ float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; // Motor speeds and accelerations int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; -int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; +int homeSpeed[8] = {300, 1000, 1000, 400, 2000, 2000, 2000, 2000}; // {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; // Range of motion (degrees) for each axis @@ -89,18 +90,26 @@ int maxAngles[6] = {180, 140, 180, 120, 140, 100}; // Time variables const unsigned long readInterval = 10; -const unsigned long currentTime; -const unsigned long previousTime = 0; -const unsigned long previousTimeEE = 0; +unsigned long currentTime; +unsigned long previousTime = 0; +unsigned long previousTimeEE = 0; const unsigned long timeIntervalEE = 100; const unsigned long timeIntervalJP = 100; -const unsigned long previousTimeJP = 0; +unsigned long previousTimeJP = 0; // stepper motor objects for AccelStepper library AccelStepper steppers[8]; AccelStepper endEff(1, EEstepPin, EEdirPin); AccelStepper steppersIK[8]; -Encoder encoders[6]; + +Encoder enc1(encPinA[0], encPinB[0]); +Encoder enc2(encPinA[1], encPinB[1]); +Encoder enc3(encPinA[2], encPinB[2]); +Encoder enc4(encPinA[3], encPinB[3]); +Encoder enc5(encPinA[4], encPinB[4]); +Encoder enc6(encPinA[5], encPinB[5]); + +Encoder encoders[] = {enc1, enc2, enc3, enc4, enc5, enc6}; // variable declarations long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; @@ -115,7 +124,7 @@ bool IKFlag = false; // variables for homing / arm calibration long homePosConst = -99000; long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*93, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompAngles[] = {axisDir[0]*7, axisDir[1]*13, axisDir[2]*90, axisDir[3]*3, axisDir[4]*85, axisDir[5]*85, axisDir[6]*80, axisDir[7]*80}; long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; @@ -140,7 +149,6 @@ void setup() { // setup function to initialize pins and provide initial homing t pinMode(dirPinsIK[i], OUTPUT); steppersIK[i] = AccelStepper(1, stepPinsIK[i], dirPinsIK[i]); steppersIK[i].setMinPulseWidth(200); - encoders[i] = Encoder(encPinA[i], encPinB[i]); } for(i = 0; i0) { @@ -267,7 +284,7 @@ void jointCommands(String inMsg) releaseEvent(detail1, inMsg[4]); else if(function == speed) changeSpeed(detail1); - else if(function == axis) + else if(function == change) changeAxis(detail1); else if(function == move) jointMovement(detail1, inMsg[4]); @@ -332,13 +349,13 @@ void sendPosNonIK() sendMessage('X'); } -void drillMotion(String inMsg) +void drillCommands(String inMsg) { char function = inMsg[2]; if(function == manual) manualDrill(inMsg[3]); - else if(functino == drillRelease) + else if(function == drillRelease) stopDrill(); else if(function == prepare) prepDrill(); @@ -361,7 +378,7 @@ void manualDrill(char dir) } } -void drillRelease() +void stopDrill() { endEff.stop(); } @@ -428,6 +445,10 @@ void readEncPos(int* encPos) { encPos[i] = encoders[i].read()*ENC_DIR[i]; } + + int temp = encPos[4]; + encPos[4] = temp + encPos[5]; + encPos[5] = encPos[5] - temp; } void zeroEncoders() @@ -460,12 +481,14 @@ void cmdArmBase() void cmdArmWrist() { - int diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; - int diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; + int diffMotStepsA5, diffMotStepsA6, diffEncStepsA5, diffEncStepsA6; + + diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; + diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; if(abs(diffEncStepsA5) > 2) { - int diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; + diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; if(diffMotStepsA5 < ppr[i]) { diffMotStepsA5 = diffEncStepsA5 / 2; @@ -474,7 +497,7 @@ void cmdArmWrist() if(abs(diffEncStepsA6) > 2) { - int diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; + diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; if(diffMotStepsA6 < ppr[i]) { diffMotStepsA6 = diffEncStepsA6 / 2; @@ -495,7 +518,7 @@ void cmdArmWrist() // sets target position for axes in joint space mode void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position - if(axis == 3) { + if((axis == 3) || (axis == 1)) { dir = !dir; } @@ -597,13 +620,13 @@ void releaseEvent(char joystick, char dir) { // when user releases a joystick se else if(joystick == left) { steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); + runFlags[currentAxis-1] = 0; } else { steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); + runFlags[currentAxis] = 0; } } @@ -772,7 +795,7 @@ void homeEE() { int force = getForce(); // target position for end effector in closed direction - endEff.move(-99000*MOTOR_DIR); + endEff.move(-99000*MOTOR_DIR_EE); while(force < 100) { @@ -836,7 +859,7 @@ void runSteppers() { // runs all stepper motors (if no target position has been steppers[i].run(); } - EE.run(); + endEff.run(); } void runSteppersIK() { // runs all stepper motors (if no target position has been assigned, stepper will not move) @@ -860,7 +883,7 @@ void waitForHome() { // stops arm motion until user homes arm after firmware is if(Serial.available() > 0) { recieved = Serial.read(); - inData += String(recieved) + inData += String(recieved); if(recieved == '\n') { serialFlag = true; @@ -882,4 +905,4 @@ void waitForHome() { // stops arm motion until user homes arm after firmware is } } } -} \ No newline at end of file +} From 447675c6ad54a7460c99108fb5f3b3e55fd5dc91 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 27 Jul 2022 15:08:36 -0700 Subject: [PATCH 026/124] fixed bug --- .../src/armFirmware/armFirmware.ino | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 2b3f3c387..f260270c9 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -6,7 +6,7 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU */ #include -#include +// #include #include // general parameters @@ -160,19 +160,18 @@ void setup() { // setup function to initialize pins and provide initial homing t } // waits for user to press "home" button before rest of functions are available - - //waitForHome(); + waitForHome(); } void loop() { -// recieveCommand(); -// -// if(!IKFlag) -// runSteppers(); -// -// else -// runSteppersIK(); + recieveCommand(); + + if(!IKFlag) + runSteppers(); + + else + runSteppersIK(); if(!IKFlag) { From f861477050ed37c41aa03f3e89159b5d7d101d33 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Wed, 27 Jul 2022 15:44:06 -0700 Subject: [PATCH 027/124] Resolve compilation errors --- src/arm_hardware_driver/CMakeLists.txt | 3 +- .../include/armHardwareDriver.h | 9 ++---- src/arm_hardware_driver/package.xml | 2 ++ .../src/armHardwareDriver.cpp | 30 +++++++++---------- 4 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/arm_hardware_driver/CMakeLists.txt b/src/arm_hardware_driver/CMakeLists.txt index 8a5cbb49d..5a0a09267 100644 --- a/src/arm_hardware_driver/CMakeLists.txt +++ b/src/arm_hardware_driver/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS sb_utils sb_msgs ) +find_library(libserial_LIBRARIES libserial.so.0) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -151,7 +152,7 @@ add_executable(arm_hardware_driver src/arm_hardware_driver.cpp src/armHardwareDr # target_link_libraries(sample_package_node # ${catkin_LIBRARIES} # ) -target_link_libraries(arm_hardware_driver ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) +target_link_libraries(arm_hardware_driver ${catkin_LIBRARIES} ${libserial_LIBRARIES} ${sb_utils_LIBRARIES}) ############# ## Install ## diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 8479c2f07..79cee39dc 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -29,7 +29,7 @@ class ArmHardwareDriver { public: ArmHardwareDriver(int argc, char** argv, std::string node_name); - void teensySerialCallback(std_msgs::String& inMsg); + void teensySerialCallback(const std_msgs::String::ConstPtr& inMsg); void parseInput(std::string inMsg); void joint_space_motion(std::string inMsg); void drill_motion(std::string inMsg); @@ -51,11 +51,9 @@ class ArmHardwareDriver { void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); void sendMsg(std::string outMsg); - void recieveMsg(std::string& inMsg); + void recieveMsg(); void requestArmPosition(); - void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg); void updateHWInterface(); - void requestArmPosition(); @@ -108,8 +106,7 @@ class ArmHardwareDriver { // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; - static const double reductions[] = {50, 161, 93.07, 44.8, 57.34, 57.34}; - vector red (reductions, reductions + sizeof(reductions) / sizeof(reductions[0])); + std::vector reductions{50, 161, 93.07, 44.8, 57.34, 57.34}; // timer variables double refresh_rate_hz = 10.0; diff --git a/src/arm_hardware_driver/package.xml b/src/arm_hardware_driver/package.xml index 9ef2caedc..79f713ecf 100644 --- a/src/arm_hardware_driver/package.xml +++ b/src/arm_hardware_driver/package.xml @@ -44,10 +44,12 @@ std_msgs sb_utils sb_msgs + libserial-dev roscpp std_msgs sb_utils sb_msgs + libserial-dev diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 2f4e6aca7..ab1d1aa47 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -42,8 +42,8 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam } // Callback function to relay pro controller messages to teensy MCU on arm via rosserial -void ArmHardwareDriver::teensySerialCallback(std_msgs::String& inMsg) { - parseInput(inMsg.data); +void ArmHardwareDriver::teensySerialCallback(const std_msgs::String::ConstPtr& inMsg) { + parseInput(inMsg->data); } void ArmHardwareDriver::parseInput(std::string inMsg) { @@ -250,7 +250,7 @@ void ArmHardwareDriver::homeArm() { void ArmHardwareDriver::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // TODO: ihsan fill std::vector type with sb_msgs values - armCmd.assign(observed_msg.positions.begin(), observed_msg.positions.end()); + armCmd.assign(observed_msg->positions.begin(), observed_msg->positions.end()); jointPosToEncSteps(armCmd, encCmd); std::string outMsg = "MT"; @@ -303,12 +303,12 @@ void ArmHardwareDriver::updateEncoderSteps(std::string msg) size_t idx4 = msg.find("D", 2) + 1; size_t idx5 = msg.find("E", 2) + 1; size_t idx6 = msg.find("F", 2) + 1; - enc_steps_[0] = std::stoi(msg.substr(idx1, idx2 - idx1)); - enc_steps_[1] = std::stoi(msg.substr(idx2, idx3 - idx2)); - enc_steps_[2] = std::stoi(msg.substr(idx3, idx4 - idx3)); - enc_steps_[3] = std::stoi(msg.substr(idx4, idx5 - idx4)); - enc_steps_[4] = std::stoi(msg.substr(idx5, idx6 - idx5)); - enc_steps_[5] = std::stoi(msg.substr(idx6)); + encPos[0] = std::stoi(msg.substr(idx1, idx2 - idx1)); + encPos[1] = std::stoi(msg.substr(idx2, idx3 - idx2)); + encPos[2] = std::stoi(msg.substr(idx3, idx4 - idx3)); + encPos[3] = std::stoi(msg.substr(idx4, idx5 - idx4)); + encPos[4] = std::stoi(msg.substr(idx5, idx6 - idx5)); + encPos[5] = std::stoi(msg.substr(idx6)); } void ArmHardwareDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions) @@ -316,7 +316,7 @@ void ArmHardwareDriver::encStepsToJointPos(std::vector& enc_steps, std::vec for (int i = 0; i < enc_steps.size(); ++i) { // convert enc steps to joint deg - joint_positions[i] = static_cast(enc_steps[i]) / enc_steps_per_deg_[i]; + joint_positions[i] = static_cast(enc_steps[i]) / encStepsPerDeg[i]; } } @@ -325,7 +325,7 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, for (int i = 0; i < joint_positions.size(); ++i) { // convert joint deg to enc steps - enc_steps[i] = static_cast(joint_positions[i] * enc_steps_per_deg_[i]); + enc_steps[i] = static_cast(joint_positions[i] * encStepsPerDeg[i]); } } @@ -337,7 +337,7 @@ void ArmHardwareDriver::sendMsg(std::string outMsg) teensy << outMsg; } -void ArmHardwareDriver::recieveMsg(std::string& inMsg) +void ArmHardwareDriver::recieveMsg() { // fill inMsg string with whatever comes through serial port until \n std::stringstream buffer; @@ -346,18 +346,18 @@ void ArmHardwareDriver::recieveMsg(std::string& inMsg) teensy >> next_char; buffer << next_char; } while (next_char != '\n'); - inMsg = buffer.str(); + std::string inMsg = buffer.str(); if(inMsg.substr(0, 2) == "JP") { - ROS_INFO("Sending Arm Position to HW Interface") + ROS_INFO("Sending Arm Position to HW Interface"); updateEncoderSteps(inMsg); encStepsToJointPos(encPos , armPos); updateHWInterface(); } else if (inMsg.substr(0, 2) == "EE") - ROS_INFO(inMsg); + ROS_INFO("%s", inMsg.c_str()); } From 01fedbc3751eb4e0902c98706afbf81178f0eee2 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 27 Jul 2022 18:39:59 -0700 Subject: [PATCH 028/124] fixed pro controller error and caught a few bugs in hardware driver --- .../include/armHardwareDriver.h | 14 +++++--------- src/arm_hardware_driver/src/armHardwareDriver.cpp | 4 ++-- src/procontroller_snowbots/src/ProController.cpp | 5 +++-- .../src/armFirmware/armFirmware.ino | 6 +++--- 4 files changed, 13 insertions(+), 16 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 79cee39dc..490107600 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -29,7 +29,7 @@ class ArmHardwareDriver { public: ArmHardwareDriver(int argc, char** argv, std::string node_name); - void teensySerialCallback(const std_msgs::String::ConstPtr& inMsg); + void teensySerialCallback(std_msgs::String& inMsg); void parseInput(std::string inMsg); void joint_space_motion(std::string inMsg); void drill_motion(std::string inMsg); @@ -51,12 +51,11 @@ class ArmHardwareDriver { void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); void sendMsg(std::string outMsg); - void recieveMsg(); + void recieveMsg(std::string& inMsg); void requestArmPosition(); + void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg); void updateHWInterface(); - - // character representations of buttons for arm communication const char leftJSL = 'A'; const char leftJSR = 'B'; @@ -106,11 +105,8 @@ class ArmHardwareDriver { // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; - std::vector reductions{50, 161, 93.07, 44.8, 57.34, 57.34}; - - // timer variables - double refresh_rate_hz = 10.0; - ros::Timer arm_pos_timer; + static const double reductions[] = {50, 161, 93.07, 44.8, 57.34, 57.34}; + vector red (reductions, reductions + sizeof(reductions) / sizeof(reductions[0])); private: void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index ab1d1aa47..5f2a95098 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -86,9 +86,9 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == triggerR) { changeAxis(up); } else if (action == leftJSRel) { - releaseAxis(right, garbage); + releaseAxis(left, garbage); } else if (action == rightJSRel) { - releaseAxis(wrist, garbage); + releaseAxis(right, garbage); } else if (action == buttonARel) { releaseAxis(wrist, right); } else if (action == buttonBRel) { diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 054a8affd..2ba95cb6c 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -97,6 +97,7 @@ void ProController::readInputs() { // vehicle for arm output message armOutMsg = ""; + armOutVal = ""; // handle all controller inputs using API functions switch (ev.code) { case ABS_X: leftJoystickX(ev.value); break; @@ -204,7 +205,7 @@ void ProController::leftJoystickX(int value) { } else if(state == Mode::arm_joint_space){ - armOutVal += leftJSRel; + armOutVal = leftJSRel; } } @@ -254,7 +255,7 @@ void ProController::rightJoystickY(int value) { if (value > 118 && value < 137) { - armOutVal += leftJSRel; + armOutVal = rightJSRel; } else { diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index f260270c9..fce0983a5 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -6,7 +6,7 @@ Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU */ #include -// #include +#include #include // general parameters @@ -622,7 +622,7 @@ void releaseEvent(char joystick, char dir) { // when user releases a joystick se runFlags[currentAxis-1] = 0; } - else + else if(joystick == right) { steppers[currentAxis].stop(); runFlags[currentAxis] = 0; @@ -891,7 +891,7 @@ void waitForHome() { // stops arm motion until user homes arm after firmware is if(serialFlag) { - if(inData = "HM") + if(inData.substring(0, 2) = "HM") { homeArm(); initFlag = true; From 61b6cd0cc32b4cc43a3281d8e4ebf4429601b840 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 11:09:02 -0700 Subject: [PATCH 029/124] ihsan fix --- .../include/armHardwareDriver.h | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 490107600..79cee39dc 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -29,7 +29,7 @@ class ArmHardwareDriver { public: ArmHardwareDriver(int argc, char** argv, std::string node_name); - void teensySerialCallback(std_msgs::String& inMsg); + void teensySerialCallback(const std_msgs::String::ConstPtr& inMsg); void parseInput(std::string inMsg); void joint_space_motion(std::string inMsg); void drill_motion(std::string inMsg); @@ -51,11 +51,12 @@ class ArmHardwareDriver { void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); void sendMsg(std::string outMsg); - void recieveMsg(std::string& inMsg); + void recieveMsg(); void requestArmPosition(); - void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg); void updateHWInterface(); + + // character representations of buttons for arm communication const char leftJSL = 'A'; const char leftJSR = 'B'; @@ -105,8 +106,11 @@ class ArmHardwareDriver { // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; - static const double reductions[] = {50, 161, 93.07, 44.8, 57.34, 57.34}; - vector red (reductions, reductions + sizeof(reductions) / sizeof(reductions[0])); + std::vector reductions{50, 161, 93.07, 44.8, 57.34, 57.34}; + + // timer variables + double refresh_rate_hz = 10.0; + ros::Timer arm_pos_timer; private: void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); From 76eec63220e594ad66717b8a1f806f8eae05568d Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 17:50:56 -0700 Subject: [PATCH 030/124] functioning firmware for axes 1-4 --- .../src/armHardwareDriver.cpp | 9 +++- .../src/armFirmware/armFirmware.ino | 52 ++++++++++--------- 2 files changed, 35 insertions(+), 26 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 5f2a95098..5c8530c23 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -334,6 +334,7 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port + teensy << outMsg; } @@ -348,7 +349,13 @@ void ArmHardwareDriver::recieveMsg() } while (next_char != '\n'); std::string inMsg = buffer.str(); - if(inMsg.substr(0, 2) == "JP") + + if(inMsg[0] == "Z") + { + + } + + else if(inMsg.substr(0, 2) == "JP") { ROS_INFO("Sending Arm Position to HW Interface"); updateEncoderSteps(inMsg); diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index fce0983a5..3a6f031dd 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -81,7 +81,7 @@ float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; // Motor speeds and accelerations int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; -int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int maxAccel[8] = {1300, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; int homeSpeed[8] = {300, 1000, 1000, 400, 2000, 2000, 2000, 2000}; // {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; @@ -94,7 +94,7 @@ unsigned long currentTime; unsigned long previousTime = 0; unsigned long previousTimeEE = 0; const unsigned long timeIntervalEE = 100; -const unsigned long timeIntervalJP = 100; +const unsigned long timeIntervalJP = 300; unsigned long previousTimeJP = 0; // stepper motor objects for AccelStepper library @@ -160,7 +160,8 @@ void setup() { // setup function to initialize pins and provide initial homing t } // waits for user to press "home" button before rest of functions are available - waitForHome(); + //waitForHome(); + Serial.println("firmware starting"); } void loop() @@ -172,18 +173,12 @@ void loop() else runSteppersIK(); - -if(!IKFlag) -{ -homeArm(); -IKFlag = true; -} } void recieveCommand() { String inData = ""; - char recieved; + char recieved = '\0'; if(Serial.available()>0) { @@ -195,6 +190,7 @@ void recieveCommand() if(recieved == '\n') { + parseMessage(inData); } } @@ -219,7 +215,7 @@ void parseMessage(String inMsg) else if(function == "EE") { - endEffectorCommands(inMsg); + //endEffectorCommands(inMsg); } else if(function == "DM") @@ -235,7 +231,7 @@ void parseMessage(String inMsg) void sendMessage(char outChar) { - String outMsg = String(outChar) + String("\n"); + String outMsg = String(outChar) + String('\n'); Serial.print(outMsg); } @@ -272,10 +268,6 @@ void cartesianCommands(String inMsg) // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { - // update HW interface with joint positions - readEncPos(curEncSteps); - sendPosNonIK(); - char function = inMsg[2]; char detail1 = inMsg[3]; @@ -287,6 +279,9 @@ void jointCommands(String inMsg) changeAxis(detail1); else if(function == move) jointMovement(detail1, inMsg[4]); + // update HW interface with joint positions + readEncPos(curEncSteps); + sendPosNonIK(); } void endEffectorCommands(String inMsg) @@ -332,7 +327,7 @@ void sendForce(int forcePercent) } else - sendMessage('X'); + sendMessage('Z'); } void sendPosNonIK() @@ -345,7 +340,7 @@ void sendPosNonIK() } else - sendMessage('X'); + sendMessage('Z'); } void drillCommands(String inMsg) @@ -400,7 +395,7 @@ void depositSample() void sendCurrentPosition() { String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("Z"); Serial.print(outMsg); } @@ -410,13 +405,13 @@ void jointMovement(char joystick, char dir) if(joystick == wrist) { if(dir == up) - runWrist(FWD, 5); + runWrist(FWD, 6); else if(dir == down) - runWrist(REV, 5); + runWrist(REV, 6); else if(dir == left) - runWrist(FWD, 6); + runWrist(FWD, 5); else if(dir == right) - runWrist(REV, 6); + runWrist(REV, 5); } else if(joystick == left) @@ -517,7 +512,7 @@ void cmdArmWrist() // sets target position for axes in joint space mode void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position - if((axis == 3) || (axis == 1)) { + if((axis == 3) || (axis == 1) || (axis == 2)) { dir = !dir; } @@ -601,7 +596,7 @@ void releaseEvent(char joystick, char dir) { // when user releases a joystick se if(joystick == wrist) { - if ((dir == up) || (dir == down)) + if ((dir == left) || (dir == right)) { steppers[6].stop(); steppers[7].stop(); @@ -678,6 +673,12 @@ void homeArm() { // main function for full arm homing steppersIK[i].setCurrentPosition(0); } + while(Serial.available() !=0) + { + Serial.read(); + } + Serial.println("serial port open"); + } void homeBase() { // homes axes 1-4 @@ -881,6 +882,7 @@ void waitForHome() { // stops arm motion until user homes arm after firmware is if(Serial.available() > 0) { + Serial.println("recieved"); recieved = Serial.read(); inData += String(recieved); if(recieved == '\n') From 84a7eead171b0f81d52451068c05670abc3705cb Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 21:11:43 -0700 Subject: [PATCH 031/124] fixed hardware driver bug --- .../src/armHardwareDriver.cpp | 31 +++++++++---------- 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 5c8530c23..5f661a557 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -336,6 +336,7 @@ void ArmHardwareDriver::sendMsg(std::string outMsg) // Send everything in outMsg through serial port teensy << outMsg; + ROS_INFO("Sent via serial: %s", outMsg.c_str()); } void ArmHardwareDriver::recieveMsg() @@ -346,25 +347,23 @@ void ArmHardwareDriver::recieveMsg() do { teensy >> next_char; buffer << next_char; - } while (next_char != '\n'); + } while (next_char != 'Z'); std::string inMsg = buffer.str(); - - - if(inMsg[0] == "Z") + if (inMsg[0] != 'Z') { - + inMsg = inMsg.substr(0, inMsg.length() - 1); + + if(inMsg.substr(0, 2) == "JP") + { + ROS_INFO("Sending Arm Position to HW Interface"); + updateEncoderSteps(inMsg); + encStepsToJointPos(encPos , armPos); + // updateHWInterface(); + } + + else if (inMsg.substr(0, 2) == "EE") + ROS_INFO("%s", inMsg.c_str()); } - - else if(inMsg.substr(0, 2) == "JP") - { - ROS_INFO("Sending Arm Position to HW Interface"); - updateEncoderSteps(inMsg); - encStepsToJointPos(encPos , armPos); - updateHWInterface(); - } - - else if (inMsg.substr(0, 2) == "EE") - ROS_INFO("%s", inMsg.c_str()); } From 5fb0257bd33679e1ef9b66507088c8c3a2687e65 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 16:46:31 -0700 Subject: [PATCH 032/124] changes made for debugging --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 5f661a557..6fcdeb828 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -346,6 +346,7 @@ void ArmHardwareDriver::recieveMsg() char next_char; do { teensy >> next_char; + ROS_INFO("next_char: '%c'", next_char); buffer << next_char; } while (next_char != 'Z'); std::string inMsg = buffer.str(); From 2e25c4137d8f1023d919c068f11778a2ca6c56da Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 17:09:01 -0700 Subject: [PATCH 033/124] Change termination condition --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 6fcdeb828..8cf9d60e7 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -351,6 +351,7 @@ void ArmHardwareDriver::recieveMsg() } while (next_char != 'Z'); std::string inMsg = buffer.str(); if (inMsg[0] != 'Z') + if(inMsg.substr(0, 2) == "JP") { inMsg = inMsg.substr(0, inMsg.length() - 1); From 7d34b79e534361a6abc74132370e9997e4809c9b Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 28 Jul 2022 17:13:48 -0700 Subject: [PATCH 034/124] Add missing else condition to prevent segfault --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 8cf9d60e7..b88f55cfe 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -354,7 +354,6 @@ void ArmHardwareDriver::recieveMsg() if(inMsg.substr(0, 2) == "JP") { inMsg = inMsg.substr(0, inMsg.length() - 1); - if(inMsg.substr(0, 2) == "JP") { ROS_INFO("Sending Arm Position to HW Interface"); @@ -362,11 +361,9 @@ void ArmHardwareDriver::recieveMsg() encStepsToJointPos(encPos , armPos); // updateHWInterface(); } - else if (inMsg.substr(0, 2) == "EE") ROS_INFO("%s", inMsg.c_str()); } - } void ArmHardwareDriver::updateHWInterface() From a2502c9a678ae22b94c99ef2fa9e8ce0396b5d4d Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 11:40:05 -0700 Subject: [PATCH 035/124] Fix install script --- .rosinstall | 6 +++++ setup_scripts/install_dependencies.sh | 34 +++++++++++++-------------- 2 files changed, 22 insertions(+), 18 deletions(-) diff --git a/.rosinstall b/.rosinstall index 379eb10ce..6315bf62e 100644 --- a/.rosinstall +++ b/.rosinstall @@ -23,3 +23,9 @@ local-name: src/mapping_urc/multi_resolution_graph uri: 'https://github.com/garethellis0/multi_resolution_graph.git' version: 0.0.3 +- git: + local-name: external_libs/dkms-hid-nintendo + uri: 'https://github.com/nicman23/dkms-hid-nintendo' +- git: + local-name: external_libs/joycond + uri: https://github.com/DanielOgorchock/joycond diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index 7ed6a3288..b646f167a 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -57,10 +57,10 @@ echo "================================================================" echo "Installing other dependencies specified by our packages" echo "================================================================" cd $CURR_DIR -sudo ./setup_realsense_manual.sh +# sudo ./setup_realsense_manual.sh cd $CURR_DIR -sudo ./install_phidgets.sh +# sudo ./install_phidgets.sh echo "================================================================" echo "Installing Misc. Utilities" @@ -74,29 +74,27 @@ echo "================================================================" echo "Installing Robotic Arm Dependencies" echo "================================================================" -echo "Upgrading CMake" -apt-get install wget -apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y -wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' -apt-get update -apt-get install cmake +# echo "Upgrading CMake" +# apt-get install wget +# apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y +# wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add +# apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' +# apt-get update +# apt-get install cmake echo "Installing Nintendo HID kernel module" -apt-get update && apt-get install -y git dkms -git clone https://github.com/nicman23/dkms-hid-nintendo && \ -cd ./dkms-hid-nintendo && \ -add . && sudo dkms build nintendo -v 3.2 && sudo dkms install nintendo -v 3.2 +sudo apt-get update && sudo apt-get install -y git dkms +cd $CURR_DIR/../external_libs/dkms-hid-nintendo && \ +sudo dkms add . && sudo dkms build nintendo -v 3.2 && sudo dkms install nintendo -v 3.2 echo "the Joycond Linux Daemon" -apt-get install libudev-dev -y -git clone https://github.com/DanielOgorchock/joycond && \ -cd ../joycond && \ -cmake . && make install && systemctl enable --now joycond +sudo apt-get install libudev-dev -y +cd $CURR_DIR/../external_libs/joycond && \ +cmake . && sudo make install && sudo systemctl enable --now joycond -sudo cp moveitjoy_module.py /opt/ros/melodic/lib/python2.7/dist-packages/moveit_ros_visualization +sudo cp $CURR_DIR/moveitjoy_module.py /opt/ros/melodic/lib/python2.7/dist-packages/moveit_ros_visualization echo "ProController is now enabled" From 83ce2b7138a5a10b609e603a9a96cc535164ef2b Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 16:29:17 -0700 Subject: [PATCH 036/124] Resolve compilation errors --- setup_scripts/install_dependencies.sh | 16 ++++++++-------- .../include/armHardwareInterface.h | 7 +++---- .../src/armHardwareInterface.cpp | 15 +++++++-------- .../src/arm_hardware_interface.cpp | 4 ++-- 4 files changed, 20 insertions(+), 22 deletions(-) diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index b646f167a..13c62bb64 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -74,13 +74,13 @@ echo "================================================================" echo "Installing Robotic Arm Dependencies" echo "================================================================" -# echo "Upgrading CMake" -# apt-get install wget -# apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y -# wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -# apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' -# apt-get update -# apt-get install cmake +echo "Upgrading CMake" +sudo apt-get install wget -y +sudo apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y +wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add +sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' +sudo apt-get update +sudo apt-get install cmake -y echo "Installing Nintendo HID kernel module" @@ -90,7 +90,7 @@ sudo dkms add . && sudo dkms build nintendo -v 3.2 && sudo dkms install nintendo echo "the Joycond Linux Daemon" -sudo apt-get install libudev-dev -y +sudo apt-get install libevdev-dev libudev-dev -y cd $CURR_DIR/../external_libs/joycond && \ cmake . && sudo make install && sudo systemctl enable --now joycond diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 098276ed7..923dba101 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -11,8 +11,8 @@ #include #include #include -#include "arm_hardware_driver/armHardwareDriver.h" #include +#include #include #include @@ -47,7 +47,6 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; double p_error_, v_error_, e_error_; // Motor driver - ArmHardwareDriver driver_; std::vector actuator_commands_; std::vector actuator_positions_; @@ -79,8 +78,8 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; double degToRad(double deg); double radToDeg(double rad); - void controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) - void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_Msg) + void controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg); + void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_Msg); ros::Subscriber subMode; ros::Subscriber sub_arm_pos; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index b552ffe6b..54de4d1ba 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -1,5 +1,5 @@ #include -#include +#include #include #include #include @@ -11,17 +11,16 @@ using joint_limits_interface::PositionJointSoftLimitsHandle; using joint_limits_interface::PositionJointSoftLimitsInterface; using joint_limits_interface::SoftJointLimits; -ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, string node_name) +ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string node_name) { ros::init(argc, argv, node_name); - ros::NodeHandle nh_; ros::NodeHandle private_nh("~"); - string modeSubscriber = "/moveit_toggle"; - subMode = nh.subscribe( + std::string modeSubscriber = "/moveit_toggle"; + subMode = nh_.subscribe( modeSubscriber, 10, &ArmHardwareInterface::controllerModeCallBack, this); - string arm_pos_subscriber = "/observed_pos_arm"; - sub_arm_pos = nh.subscribe(arm_pos_subscriber, 10, &ArmHardwareInterface::armPositionCallBack, this); - string arm_pos_publisher = "/cmd_pos_arm"; + std::string arm_pos_subscriber = "/observed_pos_arm"; + sub_arm_pos = nh_.subscribe(arm_pos_subscriber, 10, &ArmHardwareInterface::armPositionCallBack, this); + std::string arm_pos_publisher = "/cmd_pos_arm"; pub_arm_pos = private_nh.advertise(arm_pos_publisher, 1); init(); diff --git a/src/arm_hardware_interface/src/arm_hardware_interface.cpp b/src/arm_hardware_interface/src/arm_hardware_interface.cpp index b0418828c..dca612544 100644 --- a/src/arm_hardware_interface/src/arm_hardware_interface.cpp +++ b/src/arm_hardware_interface/src/arm_hardware_interface.cpp @@ -1,9 +1,9 @@ -#include +#include int main(int argc, char** argv) { - std::string node_name = arm_hardware_interface + std::string node_name = "arm_hardware_interface"; ArmHardwareInterface moveitArm(argc, argv, node_name); From 0ae28dc9c60bdea1c7ef506f1407bbda4438acf8 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 18:00:28 -0700 Subject: [PATCH 037/124] Clean up arm hardware interface code and add position limits to config file --- setup_scripts/moveitjoy_module.py | 7 ++- .../include/armHardwareInterface.h | 18 ------- .../src/armHardwareInterface.cpp | 54 ++++++------------- .../config/joint_limits.yaml | 14 ++++- 4 files changed, 34 insertions(+), 59 deletions(-) diff --git a/setup_scripts/moveitjoy_module.py b/setup_scripts/moveitjoy_module.py index 681b7d175..24a00fc65 100755 --- a/setup_scripts/moveitjoy_module.py +++ b/setup_scripts/moveitjoy_module.py @@ -49,7 +49,7 @@ import numpy import time import tf -from std_msgs.msg import Empty, String +from std_msgs.msg import Empty, String, Bool from sensor_msgs.msg import Joy from geometry_msgs.msg import PoseStamped from visualization_msgs.msg import InteractiveMarkerInit @@ -627,6 +627,7 @@ def __init__(self): queue_size=1, ) self.sub = rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=1) + self.sub = rospy.Subscriber("/moveit_toggle", Bool, self.controllerCB, queue_size=1) def updatePlanningGroup(self, next_index): if next_index >= len(self.planning_groups_keys): @@ -773,6 +774,10 @@ def joyCB(self, msg): self.run(status) self.history.add(status) + def controllerCB(self, msg): + proControllerEnabled = msg.data + print("Pro Controller enabled" if proControllerEnabled else "Pro Controller disabled") + def computePoseFromJoy(self, pre_pose, status): new_pose = PoseStamped() new_pose.header.frame_id = self.frame_id diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 923dba101..15c3e2290 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -18,11 +18,6 @@ #include using namespace hardware_interface; -using joint_limits_interface::JointLimits; -using joint_limits_interface::SoftJointLimits; -using joint_limits_interface::PositionJointSoftLimitsHandle; -using joint_limits_interface::PositionJointSoftLimitsInterface; - class ArmHardwareInterface: public hardware_interface::RobotHW { @@ -36,15 +31,11 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; void cmdArmPosition(const ros::TimerEvent& e); private: - ros::NodeHandle nh_; ros::Timer non_realtime_loop_; ros::Duration control_period_; ros::Duration elapsed_time_; - PositionJointInterface positionJointInterface; - PositionJointSoftLimitsInterface positionJointSoftLimitsInterface; double loop_hz_; boost::shared_ptr controller_manager_; - double p_error_, v_error_, e_error_; // Motor driver std::vector actuator_commands_; @@ -54,9 +45,6 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; hardware_interface::JointStateInterface joint_state_interface_; hardware_interface::PositionJointInterface position_joint_interface_; - joint_limits_interface::PositionJointSaturationInterface position_joint_saturation_interface_; - joint_limits_interface::PositionJointSoftLimitsInterface position_joint_limits_interface_; - // Shared memory int num_joints_; std::vector joint_names_; @@ -65,12 +53,6 @@ using joint_limits_interface::PositionJointSoftLimitsInterface; std::vector joint_velocities_; std::vector joint_efforts_; std::vector joint_position_commands_; - std::vector joint_velocity_commands_; - std::vector joint_effort_commands_; - std::vector joint_lower_limits_; - std::vector joint_upper_limits_; - std::vector velocity_limits_; - std::vector acceleration_limits_; bool cartesian_mode = false; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 54de4d1ba..ebaeef4ac 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -6,14 +6,10 @@ #include -using joint_limits_interface::JointLimits; -using joint_limits_interface::PositionJointSoftLimitsHandle; -using joint_limits_interface::PositionJointSoftLimitsInterface; -using joint_limits_interface::SoftJointLimits; - ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string node_name) { ros::init(argc, argv, node_name); + ros::NodeHandle nh_; ros::NodeHandle private_nh("~"); std::string modeSubscriber = "/moveit_toggle"; subMode = nh_.subscribe( @@ -23,12 +19,18 @@ ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string no std::string arm_pos_publisher = "/cmd_pos_arm"; pub_arm_pos = private_nh.advertise(arm_pos_publisher, 1); + + nh_.getParam("/hardware_interface/joints", joint_names_); + if (joint_names_.size() == 0) + { + ROS_FATAL_STREAM_NAMED("init", "No joints found on parameter server for controller. Did you load the proper yaml file?"); + } init(); // init ros controller manager controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); - nh_.param("/arm/hardware_interface/loop_hz", loop_hz_, 0.1); + nh_.param("/generic_hw_control_loop/loop_hz", loop_hz_, 0.1); ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::cmdArmPosition, this); @@ -47,39 +49,22 @@ ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string no position_joint_interface_.registerHandle(jointPositionHandle); } - // get encoder calibration - std::vector enc_steps_per_deg(num_joints_); - for (int i = 0; i < num_joints_; ++i) { - if(!nh_.getParam("/arm/hardware_driver/encoder_steps_per_deg/" + joint_names_[i], enc_steps_per_deg[i])) - { - ROS_WARN("Failed to get params for /arm/hardware_driver/encoder_steps_per_deg/"); - } - - if (!nh_.getParam("/arm/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) + if (!nh_.getParam("/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) { - ROS_WARN("Failed to get params for /arm/hardware_interface/joint_offsets/"); + ROS_WARN("Failed to get params for /hardware_interface/joint_offsets/%s", joint_names_[i].c_str()); + joint_offsets_[i] = 0; } } - // set velocity limits - for (int i = 0; i < num_joints_; ++i) - { - nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_velocity", velocity_limits_[i]); - nh_.getParam("/arm/joint_limits/" + joint_names_[i] + "/max_acceleration", acceleration_limits_[i]); - velocity_limits_[i] = radToDeg(velocity_limits_[i]); - acceleration_limits_[i] = radToDeg(acceleration_limits_[i]); - } - for (int i = 0; i < num_joints_; ++i) { // assign zero angles initially joint_positions_[i] = 0; joint_position_commands_[i] = 0; } - registerInterface(&joint_state_interface_); registerInterface(&position_joint_interface_); } @@ -101,6 +86,7 @@ void ArmHardwareInterface::armPositionCallBack(const sb_msgs::ArmPosition::Const // TODO: ihsan implement snowbots message type //actuator_positions_ = ___________ + actuator_positions_.assign(observed_msg->positions.begin(), observed_msg->positions.end()); if (!cartesian_mode) { @@ -124,18 +110,14 @@ void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent &e) write(elapsed_time_); // TODO: ihsan inspect lines below - // sb_msgs::ArmPosition cmdPos = ________ - // pub_arm_pos.publish(cmdPos); + sb_msgs::ArmPosition cmdPos; + cmdPos.positions.assign(actuator_commands_.begin(), actuator_commands_.end()); + pub_arm_pos.publish(cmdPos); } void ArmHardwareInterface::init() { // get joint names - nh_.getParam("/arm/hardware_interface/joints", joint_names_); - if (joint_names_.size() == 0) - { - ROS_FATAL_STREAM_NAMED("init", "No joints found on parameter server for controller. Did you load the proper yaml file?"); - } num_joints_ = static_cast(joint_names_.size()); // resize vectors @@ -145,13 +127,7 @@ void ArmHardwareInterface::init() joint_velocities_.resize(num_joints_); joint_efforts_.resize(num_joints_); joint_position_commands_.resize(num_joints_); - joint_velocity_commands_.resize(num_joints_); - joint_effort_commands_.resize(num_joints_); joint_offsets_.resize(num_joints_); - joint_lower_limits_.resize(num_joints_); - joint_upper_limits_.resize(num_joints_); - velocity_limits_.resize(num_joints_); - acceleration_limits_.resize(num_joints_); } /* deprecated, for reference only diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index 5b13a54ee..fd0097377 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -3,32 +3,44 @@ # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: j1: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false max_acceleration: 0 j2: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false max_acceleration: 0 j3: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false max_acceleration: 0 j4: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false max_acceleration: 0 j5: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false max_acceleration: 0 j6: + max_position: 3.14 + min_position: 0 has_velocity_limits: false max_velocity: 0 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 From 191044eeea0492acfdcc7108eee55bb726c44ba7 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 18:41:20 -0700 Subject: [PATCH 038/124] Resize encPos vector --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index b88f55cfe..22c9d071e 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -33,6 +33,7 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam armCmd.resize(num_joints_); encStepsPerDeg.resize(num_joints_); armPos.resize(num_joints_); + encPos.resize(num_joints_); armCmd.resize(num_joints_); for(int i=0; i& enc_steps, std::vector& joint_positions) @@ -353,13 +356,12 @@ void ArmHardwareDriver::recieveMsg() if (inMsg[0] != 'Z') if(inMsg.substr(0, 2) == "JP") { - inMsg = inMsg.substr(0, inMsg.length() - 1); if(inMsg.substr(0, 2) == "JP") { ROS_INFO("Sending Arm Position to HW Interface"); updateEncoderSteps(inMsg); encStepsToJointPos(encPos , armPos); - // updateHWInterface(); + updateHWInterface(); } else if (inMsg.substr(0, 2) == "EE") ROS_INFO("%s", inMsg.c_str()); From d625aec91b3de5a258b32a03191617aa0048eb56 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 2 Aug 2022 17:42:07 -0700 Subject: [PATCH 039/124] Experiment with new launch file and parameters --- .../config/joint_limits.yaml | 48 +++++++++---------- .../launch/moveit_rviz.launch | 11 +++-- .../launch/snowbots_arm_moveit_bringup.launch | 41 ++++++++++++++++ 3 files changed, 71 insertions(+), 29 deletions(-) mode change 100755 => 100644 src/snowbots_arm_simplified_configs/launch/moveit_rviz.launch create mode 100644 src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index fd0097377..ea1eb83df 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -5,42 +5,42 @@ joint_limits: j1: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 j2: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 j3: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 j4: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 j5: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 j6: max_position: 3.14 min_position: 0 - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: true + max_acceleration: 1 diff --git a/src/snowbots_arm_simplified_configs/launch/moveit_rviz.launch b/src/snowbots_arm_simplified_configs/launch/moveit_rviz.launch old mode 100755 new mode 100644 index a4605c037..1f030f098 --- a/src/snowbots_arm_simplified_configs/launch/moveit_rviz.launch +++ b/src/snowbots_arm_simplified_configs/launch/moveit_rviz.launch @@ -4,12 +4,13 @@ - - - - + + + + + args="$(arg command_args)" output="screen"> + diff --git a/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch b/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch new file mode 100644 index 000000000..9b7fba35a --- /dev/null +++ b/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From ac3c13fba09b510eefaf87798f8a3430dd26f195 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 14:19:14 -0700 Subject: [PATCH 040/124] Add config files to hardware interface package --- .../src/armHardwareDriver.cpp | 2 +- .../config/controllers.yaml | 33 +++++++++++++++++ .../config/hardware_driver.yaml | 2 ++ .../config/hardware_interface.yaml | 9 +++++ .../config/joint_offsets.yaml | 9 +++++ .../launch/arm_hardware_bringup.launch | 35 +++++++++++++++++++ .../src/armHardwareInterface.cpp | 2 +- 7 files changed, 90 insertions(+), 2 deletions(-) create mode 100644 src/arm_hardware_interface/config/controllers.yaml create mode 100644 src/arm_hardware_interface/config/hardware_driver.yaml create mode 100644 src/arm_hardware_interface/config/hardware_interface.yaml create mode 100644 src/arm_hardware_interface/config/joint_offsets.yaml create mode 100644 src/arm_hardware_interface/launch/arm_hardware_bringup.launch diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 22c9d071e..c770abb65 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -23,7 +23,7 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); // Get Params - SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); + SB_getParam(private_nh, "/hardware_interface/port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port teensy.Open(port); teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); diff --git a/src/arm_hardware_interface/config/controllers.yaml b/src/arm_hardware_interface/config/controllers.yaml new file mode 100644 index 000000000..7d03436bb --- /dev/null +++ b/src/arm_hardware_interface/config/controllers.yaml @@ -0,0 +1,33 @@ +controllers: + state: + type: joint_state_controller/JointStateController + publish_rate: 50 + position: + type: position_controllers/JointTrajectoryController + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 + constraints: + goal_time: 0.5 + j1: + trajectory: 0.5 + goal: 0.02 + j2: + trajectory: 0.5 + goal: 0.02 + j3: + trajectory: 0.5 + goal: 0.02 + j4: + trajectory: 0.5 + goal: 0.02 + j5: + trajectory: 0.5 + goal: 0.02 + j6: + trajectory: 0.5 + goal: 0.02 diff --git a/src/arm_hardware_interface/config/hardware_driver.yaml b/src/arm_hardware_interface/config/hardware_driver.yaml new file mode 100644 index 000000000..af2fbb5ee --- /dev/null +++ b/src/arm_hardware_interface/config/hardware_driver.yaml @@ -0,0 +1,2 @@ +hardware_driver: + port: "/dev/ttyACM0" diff --git a/src/arm_hardware_interface/config/hardware_interface.yaml b/src/arm_hardware_interface/config/hardware_interface.yaml new file mode 100644 index 000000000..8fed70a74 --- /dev/null +++ b/src/arm_hardware_interface/config/hardware_interface.yaml @@ -0,0 +1,9 @@ + hardware_interface: + loop_hz: 10 # hz + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 diff --git a/src/arm_hardware_interface/config/joint_offsets.yaml b/src/arm_hardware_interface/config/joint_offsets.yaml new file mode 100644 index 000000000..09fd62562 --- /dev/null +++ b/src/arm_hardware_interface/config/joint_offsets.yaml @@ -0,0 +1,9 @@ +ar3: + hardware_interface: + joint_offsets: # degrees + joint_1: -170.0 # default -170.0 + joint_2: -39.6 # default -39.6 + joint_3: 0.0 # default 0.0 + joint_4: -164.5 # default -164.5 + joint_5: -104.5 # default -104.15 + joint_6: -148.1 # default -148.1 diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch new file mode 100644 index 000000000..09b114f86 --- /dev/null +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index ebaeef4ac..97e0d2f98 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -30,7 +30,7 @@ ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string no // init ros controller manager controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); - nh_.param("/generic_hw_control_loop/loop_hz", loop_hz_, 0.1); + nh_.param("/hardware_interface/loop_hz", loop_hz_, 0.1); ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::cmdArmPosition, this); From c997924187addc8936d67c5a96ce5821e51ab622 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 14:53:49 -0700 Subject: [PATCH 041/124] Load arm urdf in launch file --- src/arm_hardware_interface/launch/arm_hardware_bringup.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index 09b114f86..32912d2d1 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -19,7 +19,7 @@ - + From 7cc414d76ee52a94621fffba382784ca2f71d480 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 15:12:08 -0700 Subject: [PATCH 042/124] Add modified demo.launch file and named it experiment.launch --- .../launch/experiment.launch | 70 +++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 src/snowbots_arm_simplified_configs/launch/experiment.launch diff --git a/src/snowbots_arm_simplified_configs/launch/experiment.launch b/src/snowbots_arm_simplified_configs/launch/experiment.launch new file mode 100644 index 000000000..603dfca93 --- /dev/null +++ b/src/snowbots_arm_simplified_configs/launch/experiment.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 4e920cd1942fadb772eb3d24d2f9579c8622aea0 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 15:59:46 -0700 Subject: [PATCH 043/124] Fix config files and launch file --- .../config/controllers.yaml | 58 +++++++++---------- .../config/joint_offsets.yaml | 17 +++--- .../launch/arm_hardware_bringup.launch | 8 +-- 3 files changed, 41 insertions(+), 42 deletions(-) diff --git a/src/arm_hardware_interface/config/controllers.yaml b/src/arm_hardware_interface/config/controllers.yaml index 7d03436bb..71b5b06d5 100644 --- a/src/arm_hardware_interface/config/controllers.yaml +++ b/src/arm_hardware_interface/config/controllers.yaml @@ -2,32 +2,32 @@ controllers: state: type: joint_state_controller/JointStateController publish_rate: 50 - position: - type: position_controllers/JointTrajectoryController - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 - constraints: - goal_time: 0.5 - j1: - trajectory: 0.5 - goal: 0.02 - j2: - trajectory: 0.5 - goal: 0.02 - j3: - trajectory: 0.5 - goal: 0.02 - j4: - trajectory: 0.5 - goal: 0.02 - j5: - trajectory: 0.5 - goal: 0.02 - j6: - trajectory: 0.5 - goal: 0.02 + position: + type: position_controllers/JointTrajectoryController + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 + constraints: + goal_time: 0.5 + j1: + trajectory: 0.5 + goal: 0.02 + j2: + trajectory: 0.5 + goal: 0.02 + j3: + trajectory: 0.5 + goal: 0.02 + j4: + trajectory: 0.5 + goal: 0.02 + j5: + trajectory: 0.5 + goal: 0.02 + j6: + trajectory: 0.5 + goal: 0.02 diff --git a/src/arm_hardware_interface/config/joint_offsets.yaml b/src/arm_hardware_interface/config/joint_offsets.yaml index 09fd62562..c8e7bb9ed 100644 --- a/src/arm_hardware_interface/config/joint_offsets.yaml +++ b/src/arm_hardware_interface/config/joint_offsets.yaml @@ -1,9 +1,8 @@ -ar3: - hardware_interface: - joint_offsets: # degrees - joint_1: -170.0 # default -170.0 - joint_2: -39.6 # default -39.6 - joint_3: 0.0 # default 0.0 - joint_4: -164.5 # default -164.5 - joint_5: -104.5 # default -104.15 - joint_6: -148.1 # default -148.1 +hardware_interface: + joint_offsets: # degrees + j1: -170.0 # default -170.0 + j2: -39.6 # default -39.6 + j3: 0.0 # default 0.0 + j4: -164.5 # default -164.5 + j5: -104.5 # default -104.15 + j6: -148.1 # default -148.1 diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index 32912d2d1..f9ac955fb 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -16,16 +16,16 @@ - + - + - + - + Date: Wed, 3 Aug 2022 16:21:52 -0700 Subject: [PATCH 044/124] added automatic planning and execution based on timer event --- setup_scripts/moveitjoy_module.py | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/setup_scripts/moveitjoy_module.py b/setup_scripts/moveitjoy_module.py index 24a00fc65..ccfbf7998 100755 --- a/setup_scripts/moveitjoy_module.py +++ b/setup_scripts/moveitjoy_module.py @@ -54,7 +54,7 @@ from geometry_msgs.msg import PoseStamped from visualization_msgs.msg import InteractiveMarkerInit -proControllerEnabled = True +proControllerEnabled = False proController = False proControllerFirstDetect = True @@ -629,6 +629,14 @@ def __init__(self): self.sub = rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=1) self.sub = rospy.Subscriber("/moveit_toggle", Bool, self.controllerCB, queue_size=1) + rospy.Timer(rospy.Duration(0.1), planAndExecute) + + + def planAndExecute(self): + if(proControllerEnabled): + self.plan_pub.publish(Empty()) + self.execute_pub.publish(Empty()) + def updatePlanningGroup(self, next_index): if next_index >= len(self.planning_groups_keys): self.current_planning_group_index = 0 @@ -747,10 +755,6 @@ def joyCB(self, msg): if proControllerFirstDetect: print("procontroller detected") proControllerFirstDetect = False - - if msg.buttons[9] == 1: - proControllerEnabled = not proControllerEnabled - #print("Controller:{proControllerEnabled} in first".format(proControllerEnabled=proControllerEnabled)) time.sleep(1) else: From 05c1a3022907608156be23d20cfdf8a4c1137229 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 16:57:07 -0700 Subject: [PATCH 045/124] Adjust parameters in yaml config files again --- .../src/armHardwareDriver.cpp | 2 +- .../config/hardware_interface.yaml | 18 +++++----- .../config/ros_controllers.yaml | 35 +------------------ .../launch/experiment.launch | 3 +- 4 files changed, 12 insertions(+), 46 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index c770abb65..170659512 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -23,7 +23,7 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); // Get Params - SB_getParam(private_nh, "/hardware_interface/port", port, (std::string) "/dev/ttyACM0"); + SB_getParam(private_nh, "/hardware_driver/port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port teensy.Open(port); teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); diff --git a/src/arm_hardware_interface/config/hardware_interface.yaml b/src/arm_hardware_interface/config/hardware_interface.yaml index 8fed70a74..538f704af 100644 --- a/src/arm_hardware_interface/config/hardware_interface.yaml +++ b/src/arm_hardware_interface/config/hardware_interface.yaml @@ -1,9 +1,9 @@ - hardware_interface: - loop_hz: 10 # hz - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 +hardware_interface: + loop_hz: 10 # hz + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 diff --git a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml index c2a311dbc..58ba3bcdd 100755 --- a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml +++ b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml @@ -1,28 +1,6 @@ # Simulation settings for using moveit_sim_controllers -moveit_sim_hw_interface: - joint_model_group: arm - joint_model_group_pose: default -# Settings for ros_control_boilerplate control loop -generic_hw_control_loop: - loop_hz: 300 - cycle_time_error_threshold: 0.01 -# Settings for ros_control hardware interface -hardware_interface: - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 - sim_control_mode: 1 # 0: position, 1: velocity -# Publish all joint states -# Creates the /joint_states topic necessary in ROS -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 controller_list: - - name: arm_controller + - name: "/controllers/position" action_ns: follow_joint_trajectory default: True type: FollowJointTrajectory @@ -33,14 +11,3 @@ controller_list: - j4 - j5 - j6 - - name: joint_controller - action_ns: follow_joint_trajectory - default: True - type: FollowJointTrajectory - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 \ No newline at end of file diff --git a/src/snowbots_arm_simplified_configs/launch/experiment.launch b/src/snowbots_arm_simplified_configs/launch/experiment.launch index 603dfca93..e507e0bdf 100644 --- a/src/snowbots_arm_simplified_configs/launch/experiment.launch +++ b/src/snowbots_arm_simplified_configs/launch/experiment.launch @@ -40,7 +40,6 @@ [move_group/fake_controller_joint_states] --> - @@ -58,7 +57,7 @@ - + From 8ee43f3b8de23e3422a31ba2a9c2257948798ad6 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 17:03:06 -0700 Subject: [PATCH 046/124] Add timerEvent parameter to timer callback --- setup_scripts/moveitjoy_module.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup_scripts/moveitjoy_module.py b/setup_scripts/moveitjoy_module.py index ccfbf7998..067cec583 100755 --- a/setup_scripts/moveitjoy_module.py +++ b/setup_scripts/moveitjoy_module.py @@ -632,7 +632,7 @@ def __init__(self): rospy.Timer(rospy.Duration(0.1), planAndExecute) - def planAndExecute(self): + def planAndExecute(self, timerEvent): if(proControllerEnabled): self.plan_pub.publish(Empty()) self.execute_pub.publish(Empty()) From 5c0c141cad33bddf29ea8ef6971b720305888d97 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 17:57:20 -0700 Subject: [PATCH 047/124] Adjust *.yaml and launch files again --- .../config/kinematics.yaml | 4 -- .../config/ros_controllers.yaml | 70 ++++++++++++++++++- .../launch/ros_controllers.launch | 2 +- .../package.xml | 6 -- 4 files changed, 70 insertions(+), 12 deletions(-) diff --git a/src/snowbots_arm_simplified_configs/config/kinematics.yaml b/src/snowbots_arm_simplified_configs/config/kinematics.yaml index 5e11fce29..a65c1af0e 100755 --- a/src/snowbots_arm_simplified_configs/config/kinematics.yaml +++ b/src/snowbots_arm_simplified_configs/config/kinematics.yaml @@ -1,8 +1,4 @@ arm: - kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 -end_effector: kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml index 58ba3bcdd..e00d00b0b 100755 --- a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml +++ b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml @@ -1,6 +1,28 @@ # Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm + joint_model_group_pose: default +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 controller_list: - - name: "/controllers/position" + - name: /controllers/position action_ns: follow_joint_trajectory default: True type: FollowJointTrajectory @@ -11,3 +33,49 @@ controller_list: - j4 - j5 - j6 +arm_controller: + type: position_controllers/JointPositionController + joints: + - j1 + - j2 + - j3 + - j4 + - j5 + - j6 + gains: + j1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + j2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + j3: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + j4: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + j5: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + j6: + p: 100 + d: 1 + i: 1 + i_clamp: 1 +joint_controller: + type: position_controllers/JointTrajectoryController + joints: + [] + gains: + {} \ No newline at end of file diff --git a/src/snowbots_arm_simplified_configs/launch/ros_controllers.launch b/src/snowbots_arm_simplified_configs/launch/ros_controllers.launch index 473f300ba..7d56ed430 100755 --- a/src/snowbots_arm_simplified_configs/launch/ros_controllers.launch +++ b/src/snowbots_arm_simplified_configs/launch/ros_controllers.launch @@ -6,6 +6,6 @@ + output="screen" args="arm_controller joint_controller "/> diff --git a/src/snowbots_arm_simplified_configs/package.xml b/src/snowbots_arm_simplified_configs/package.xml index 5c3403c5b..d8538b1e8 100755 --- a/src/snowbots_arm_simplified_configs/package.xml +++ b/src/snowbots_arm_simplified_configs/package.xml @@ -16,13 +16,7 @@ catkin - moveit moveit_ros_move_group - rqt - joy - joystick_drivers - ros_controllers - ros_control moveit_fake_controller_manager moveit_kinematics moveit_planners_ompl From 619d1a8c4068da73e317c120013bb0c42794ef8e Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 3 Aug 2022 19:09:51 -0700 Subject: [PATCH 048/124] Add ROS_INFO and remove extra joint_state_controller --- src/arm_hardware_interface/src/armHardwareInterface.cpp | 1 + .../config/ros_controllers.yaml | 5 +---- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 97e0d2f98..391f3636e 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -86,6 +86,7 @@ void ArmHardwareInterface::armPositionCallBack(const sb_msgs::ArmPosition::Const // TODO: ihsan implement snowbots message type //actuator_positions_ = ___________ + ROS_INFO("Received new message"); actuator_positions_.assign(observed_msg->positions.begin(), observed_msg->positions.end()); if (!cartesian_mode) diff --git a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml index e00d00b0b..747a5bf31 100755 --- a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml +++ b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml @@ -18,9 +18,6 @@ hardware_interface: sim_control_mode: 1 # 0: position, 1: velocity # Publish all joint states # Creates the /joint_states topic necessary in ROS -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 controller_list: - name: /controllers/position action_ns: follow_joint_trajectory @@ -78,4 +75,4 @@ joint_controller: joints: [] gains: - {} \ No newline at end of file + {} From 95238bde993df06ec0fe0a6c2829a1f42fcf575f Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 4 Aug 2022 08:51:08 -0700 Subject: [PATCH 049/124] Upload CMakeLists.txt and package.xml to git --- src/arm_hardware_interface/CMakeLists.txt | 215 ++++++++++++++++++++++ src/arm_hardware_interface/package.xml | 64 +++++++ 2 files changed, 279 insertions(+) create mode 100644 src/arm_hardware_interface/CMakeLists.txt create mode 100644 src/arm_hardware_interface/package.xml diff --git a/src/arm_hardware_interface/CMakeLists.txt b/src/arm_hardware_interface/CMakeLists.txt new file mode 100644 index 000000000..40b9145b9 --- /dev/null +++ b/src/arm_hardware_interface/CMakeLists.txt @@ -0,0 +1,215 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arm_hardware_interface) + +# Build in "Release" (with lots of compiler optimizations) by default +# (If built in "Debug", some functions can take orders of magnitude longer) +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") +endif() + +add_definitions(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + sb_msgs + controller_manager +) +find_package(sb_utils REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES arm_hardware_interface +# CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${sb_utils_INCLUDE_DIRS} + ./include +) + +## Declare a C++ library +# add_library(arm_hardware_interface +# src/${PROJECT_NAME}/arm_hardware_interface.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(arm_hardware_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(arm_hardware_interface_node src/arm_hardware_interface_node.cpp) +add_executable(arm_hardware_interface src/arm_hardware_interface.cpp src/armHardwareInterface.cpp include/armHardwareInterface.h) + + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(arm_hardware_interface_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(arm_hardware_interface_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries(arm_hardware_interface ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS arm_hardware_interface arm_hardware_interface_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +# if (CATKIN_ENABLE_TESTING) +# +# # Adding gtests to the package +# catkin_add_gtest(my-node-test test/my-node-test.cpp src/armHardwareInterface.cpp) +# target_link_libraries(my-node-test ${catkin_LIBRARIES}) +# +# # Adding rostest to the package +# find_package(rostest REQUIRED) +# # name the test and link it to the .test file and the .cpp file itself, this will allow +# # "catkin_make run_tests" to be able to find and run this rostest +# add_rostest_gtest(arm_hardware_interface_rostest test/arm_hardware_interface_test.test test/arm_hardware_interface_rostest.cpp) +# target_link_libraries(arm_hardware_interface_rostest ${catkin_LIBRARIES}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/arm_hardware_interface/package.xml b/src/arm_hardware_interface/package.xml new file mode 100644 index 000000000..df2324a11 --- /dev/null +++ b/src/arm_hardware_interface/package.xml @@ -0,0 +1,64 @@ + + + arm_hardware_interface + 0.0.0 + The arm_hardware_interface package + + + + + tate + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + sb_utils + sb_msgs + hardware_interface + joint_limits_interface + controller_manager + roscpp + std_msgs + sb_utils + sb_msgs + hardware_interface + joint_limits_interface + controller_manager + + + + + + + + From b1589debf1e1ff82cfa515d5777ddff2bcda78d3 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Thu, 4 Aug 2022 13:48:06 -0700 Subject: [PATCH 050/124] Adjust yaml and launch files to get moveit plans to execute --- .../launch/arm_hardware_bringup.launch | 5 +- .../config/joint_limits.yaml | 6 + .../config/ros_controllers.yaml | 132 +++++++++--------- .../launch/experiment.launch | 3 +- 4 files changed, 78 insertions(+), 68 deletions(-) diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index f9ac955fb..a1f77fece 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -16,7 +16,7 @@ - + @@ -24,6 +24,9 @@ + + + diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index ea1eb83df..a60d9da19 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -3,6 +3,7 @@ # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: j1: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true @@ -10,6 +11,7 @@ joint_limits: has_acceleration_limits: true max_acceleration: 1 j2: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true @@ -17,6 +19,7 @@ joint_limits: has_acceleration_limits: true max_acceleration: 1 j3: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true @@ -24,6 +27,7 @@ joint_limits: has_acceleration_limits: true max_acceleration: 1 j4: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true @@ -31,6 +35,7 @@ joint_limits: has_acceleration_limits: true max_acceleration: 1 j5: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true @@ -38,6 +43,7 @@ joint_limits: has_acceleration_limits: true max_acceleration: 1 j6: + has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true diff --git a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml index 747a5bf31..c43878853 100755 --- a/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml +++ b/src/snowbots_arm_simplified_configs/config/ros_controllers.yaml @@ -1,23 +1,23 @@ -# Simulation settings for using moveit_sim_controllers -moveit_sim_hw_interface: - joint_model_group: arm - joint_model_group_pose: default -# Settings for ros_control_boilerplate control loop -generic_hw_control_loop: - loop_hz: 300 - cycle_time_error_threshold: 0.01 -# Settings for ros_control hardware interface -hardware_interface: - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 - sim_control_mode: 1 # 0: position, 1: velocity -# Publish all joint states -# Creates the /joint_states topic necessary in ROS +## Simulation settings for using moveit_sim_controllers +#moveit_sim_hw_interface: +# joint_model_group: arm +# joint_model_group_pose: default +## Settings for ros_control_boilerplate control loop +#generic_hw_control_loop: +# loop_hz: 300 +# cycle_time_error_threshold: 0.01 +## Settings for ros_control hardware interface +#hardware_interface: +# joints: +# - j1 +# - j2 +# - j3 +# - j4 +# - j5 +# - j6 +# sim_control_mode: 1 # 0: position, 1: velocity +## Publish all joint states +## Creates the /joint_states topic necessary in ROS controller_list: - name: /controllers/position action_ns: follow_joint_trajectory @@ -30,49 +30,49 @@ controller_list: - j4 - j5 - j6 -arm_controller: - type: position_controllers/JointPositionController - joints: - - j1 - - j2 - - j3 - - j4 - - j5 - - j6 - gains: - j1: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - j2: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - j3: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - j4: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - j5: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - j6: - p: 100 - d: 1 - i: 1 - i_clamp: 1 -joint_controller: - type: position_controllers/JointTrajectoryController - joints: - [] - gains: - {} +#arm_controller: +# type: position_controllers/JointPositionController +# joints: +# - j1 +# - j2 +# - j3 +# - j4 +# - j5 +# - j6 +# gains: +# j1: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +# j2: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +# j3: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +# j4: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +# j5: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +# j6: +# p: 100 +# d: 1 +# i: 1 +# i_clamp: 1 +#joint_controller: +# type: position_controllers/JointTrajectoryController +# joints: +# [] +# gains: +# {} diff --git a/src/snowbots_arm_simplified_configs/launch/experiment.launch b/src/snowbots_arm_simplified_configs/launch/experiment.launch index e507e0bdf..e5a90c582 100644 --- a/src/snowbots_arm_simplified_configs/launch/experiment.launch +++ b/src/snowbots_arm_simplified_configs/launch/experiment.launch @@ -12,7 +12,7 @@ - + @@ -53,6 +53,7 @@ + From a2a1fa99c9170843c88194f03fd4822d7ca11949 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Sat, 6 Aug 2022 11:55:06 -0700 Subject: [PATCH 051/124] final adjustments to speed settings --- .../src/armHardwareDriver.cpp | 1 - .../config/joint_limits.yaml | 24 +++---- .../src/armFirmware/armFirmware.ino | 66 ++++++++++++++----- 3 files changed, 63 insertions(+), 28 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 170659512..4a3cb8908 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -354,7 +354,6 @@ void ArmHardwareDriver::recieveMsg() } while (next_char != 'Z'); std::string inMsg = buffer.str(); if (inMsg[0] != 'Z') - if(inMsg.substr(0, 2) == "JP") { if(inMsg.substr(0, 2) == "JP") { diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index a60d9da19..9a594f45b 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -7,46 +7,46 @@ joint_limits: max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 j2: has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 j3: has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 j4: has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 j5: has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 j6: has_position_limits: true max_position: 3.14 min_position: 0 has_velocity_limits: true - max_velocity: 1 + max_velocity: 0.4 has_acceleration_limits: true - max_acceleration: 1 + max_acceleration: 0.2 diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 3a6f031dd..9aaa1b02b 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -41,13 +41,6 @@ static const char deposit = 'D'; static const char manual = 'M'; static const char drillRelease = 'X'; -// Encoder Variables - -int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; -int pprEnc = 512; -int ENC_DIR[6] = {1, -1, -1, -1, 1, -1}; -const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; - // Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; int dirPins[8] = {5, 7, 9, 1, 11, 24, 11, 24}; @@ -79,6 +72,19 @@ long ppr[6] = {400, 400, 400, 400, 400, 400}; // Gear Reduction Ratios float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; + +// Encoder Variables +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; +int pprEnc = 512; +int ENC_DIR[6] = {1, -1, -1, -1, -1, -1}; +const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; +float ENC_STEPS_PER_DEG[NUM_AXES]; + +for(int i=0; i Date: Sat, 6 Aug 2022 15:02:34 -0700 Subject: [PATCH 052/124] Apply debugging fixes from Adam --- .../include/armHardwareDriver.h | 95 +++--- .../src/armHardwareDriver.cpp | 173 +++++----- .../src/arm_hardware_driver.cpp | 14 +- .../include/armHardwareInterface.h | 3 +- .../launch/arm_hardware_bringup.launch | 3 +- .../src/armHardwareInterface.cpp | 322 +++++++++--------- .../src/arm_hardware_interface.cpp | 24 +- src/drivers/CMakeLists.txt | 9 - src/drivers/include/ArmDriver.h | 51 --- src/drivers/src/ArmDriver.cpp | 36 -- src/drivers/src/arm_driver.cpp | 24 -- .../config/joint_limits.yaml | 66 ++-- .../launch/move_group.launch | 3 +- .../launch/snowbots_arm_moveit_bringup.launch | 3 - .../launch/trajectory_execution.launch.xml | 3 - 15 files changed, 344 insertions(+), 485 deletions(-) delete mode 100644 src/drivers/include/ArmDriver.h delete mode 100644 src/drivers/src/ArmDriver.cpp delete mode 100644 src/drivers/src/arm_driver.cpp diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 79cee39dc..d97bc5371 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -1,7 +1,8 @@ /* * Created By: Tate Kolton and Ihsan Olawale * Created On: July 4, 2022 - * Description: Header file for recieving messages from pro controller and relaying them to arm hardware driver module + * Description: Header file for recieving messages from pro controller and + * relaying them to arm hardware driver module */ #ifndef ARM_HARDWARE_DRIVER_MYNODE_H @@ -12,14 +13,14 @@ #include // ROS Includes +#include #include #include #include -#include // Snowbots Includes -#include #include +#include // Other #include @@ -28,7 +29,7 @@ class ArmHardwareDriver { public: - ArmHardwareDriver(int argc, char** argv, std::string node_name); + ArmHardwareDriver(ros::NodeHandle& nh); void teensySerialCallback(const std_msgs::String::ConstPtr& inMsg); void parseInput(std::string inMsg); void joint_space_motion(std::string inMsg); @@ -46,73 +47,75 @@ class ArmHardwareDriver { void releaseDrill(); void homeArm(); void cartesian_motion(std::string inMsg); - void cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions); + void cartesian_moveit_move(std::vector& pos_commands, + std::vector& joint_positions); void updateEncoderSteps(std::string msg); - void encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions); - void jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps); + void encStepsToJointPos(std::vector& enc_steps, + std::vector& joint_positions); + void jointPosToEncSteps(std::vector& joint_positions, + std::vector& enc_steps); void sendMsg(std::string outMsg); void recieveMsg(); void requestArmPosition(); void updateHWInterface(); - - // character representations of buttons for arm communication - const char leftJSL = 'A'; - const char leftJSR = 'B'; - const char rightJSU = 'C'; - const char rightJSD = 'D'; - const char buttonA = 'E'; - const char buttonB = 'F'; - const char buttonX = 'G'; - const char buttonY = 'H'; - const char triggerL = 'I'; - const char triggerR = 'J'; - const char bumperL = 'K'; - const char bumperR = 'L'; - const char buttonARel = 'M'; - const char buttonBRel = 'N'; - const char buttonXRel = 'O'; - const char buttonYRel = 'P'; + const char leftJSL = 'A'; + const char leftJSR = 'B'; + const char rightJSU = 'C'; + const char rightJSD = 'D'; + const char buttonA = 'E'; + const char buttonB = 'F'; + const char buttonX = 'G'; + const char buttonY = 'H'; + const char triggerL = 'I'; + const char triggerR = 'J'; + const char bumperL = 'K'; + const char bumperR = 'L'; + const char buttonARel = 'M'; + const char buttonBRel = 'N'; + const char buttonXRel = 'O'; + const char buttonYRel = 'P'; const char triggerLRel = 'Q'; const char triggerRRel = 'R'; - const char bumperLRel = 'S'; - const char bumperRRel = 'T'; - const char arrowL = 'U'; - const char arrowR = 'V'; - const char arrowU = 'W'; - const char arrowD = 'X'; - const char arrowRLRel = '0'; - const char leftJSRel = 'Y'; - const char rightJSRel = 'Z'; - const char homeVal = '4'; + const char bumperLRel = 'S'; + const char bumperRRel = 'T'; + const char arrowL = 'U'; + const char arrowR = 'V'; + const char arrowU = 'W'; + const char arrowD = 'X'; + const char arrowRLRel = '0'; + const char leftJSRel = 'Y'; + const char rightJSRel = 'Z'; + const char homeVal = '4'; // arm modes const char jointMode = '1'; - const char IKMode = '2'; + const char IKMode = '2'; const char drillMode = '3'; - //joystick direction characters - const char left = 'L'; - const char right = 'R'; - const char up = 'U'; - const char down = 'D'; - const char wrist = 'W'; + // joystick direction characters + const char left = 'L'; + const char right = 'R'; + const char up = 'U'; + const char down = 'D'; + const char wrist = 'W'; const char garbage = 'G'; int num_joints_ = 6; - double ppr = 400.0; - double encppr = 512.0; - + double ppr = 400.0; + double encppr = 512.0; + // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; std::vector reductions{50, 161, 93.07, 44.8, 57.34, 57.34}; - + // timer variables double refresh_rate_hz = 10.0; ros::Timer arm_pos_timer; private: + ros::NodeHandle nh; void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); ros::Subscriber subPro; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 4a3cb8908..e715817ba 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -1,33 +1,34 @@ /* * Created By: Tate Kolton * Created On: July 4, 2022 - * Description: This package receives info from /cmd_arm topic and publishes serial data via callback to be recieved by the arm MCU (Teensy 4.1) + * Description: This package receives info from /cmd_arm topic and publishes + * serial data via callback to be recieved by the arm MCU (Teensy 4.1) */ - #include "../include/armHardwareDriver.h" -ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_name) { - +ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { // Setup NodeHandles - ros::init(argc, argv, node_name); - ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); // Setup Subscribers - int queue_size = 10; + int queue_size = 10; - subPro = nh.subscribe( - "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); - sub_command_pos = nh.subscribe("/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); - pub_observed_pos = private_nh.advertise("/observed_pos_arm", 1); + // subPro = nh.subscribe( + // "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); + sub_command_pos = nh.subscribe( + "/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); + pub_observed_pos = + private_nh.advertise("/observed_pos_arm", 1); // Get Params - SB_getParam(private_nh, "/hardware_driver/port", port, (std::string) "/dev/ttyACM0"); + SB_getParam( + private_nh, "/hardware_driver/port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port - teensy.Open(port); - teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); - teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); + // teensy.Open(port); + // teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); + // teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); encCmd.resize(num_joints_); armCmd.resize(num_joints_); @@ -36,19 +37,19 @@ ArmHardwareDriver::ArmHardwareDriver(int argc, char** argv, std::string node_nam encPos.resize(num_joints_); armCmd.resize(num_joints_); - for(int i=0; idata); } void ArmHardwareDriver::parseInput(std::string inMsg) { - char mode = inMsg[0]; if (mode == jointMode) { @@ -62,10 +63,9 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { // Sends joint space motion related commands to teensy void ArmHardwareDriver::joint_space_motion(std::string inMsg) { - ROS_INFO("Joint space command recieved"); char action = inMsg[1]; - + if (action == leftJSL) { jointSpaceMove(left, left); } else if (action == leftJSR) { @@ -113,8 +113,7 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } } -void ArmHardwareDriver::cartesian_motion(std::string inMsg) -{ +void ArmHardwareDriver::cartesian_motion(std::string inMsg) { char action = inMsg[1]; if (arrowL) { @@ -128,7 +127,6 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { - ROS_INFO("Drilling command recieved"); char action = inMsg.at(1); @@ -150,8 +148,7 @@ void ArmHardwareDriver::drill_motion(std::string inMsg) { // case rightJSD: moveDrillDown(); break; } -void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) -{ +void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { std::string outMsg = "JM"; outMsg += "M"; outMsg += joystick; @@ -161,19 +158,19 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) recieveMsg(); } -void ArmHardwareDriver::changeSpeed(const char dir) -{ +void ArmHardwareDriver::changeSpeed(const char dir) { ROS_INFO("Changing speed"); - ROS_INFO(dir == up ? "Speed increasing" : (dir == down ? "Speed decreasing" : "Incorrect direction provided")); + ROS_INFO(dir == up ? "Speed increasing" + : (dir == down ? "Speed decreasing" + : "Incorrect direction provided")); std::string outMsg = "JM"; - outMsg = "S"; + outMsg = "S"; outMsg += dir; outMsg += "\n"; sendMsg(outMsg); } -void ArmHardwareDriver::changeAxis(const char joystick) -{ +void ArmHardwareDriver::changeAxis(const char joystick) { std::string outMsg = "JM"; outMsg += "A"; outMsg += joystick; @@ -181,8 +178,7 @@ void ArmHardwareDriver::changeAxis(const char joystick) sendMsg(outMsg); } -void ArmHardwareDriver::releaseAxis(const char joystick, const char dir) -{ +void ArmHardwareDriver::releaseAxis(const char joystick, const char dir) { std::string outMsg = "JM"; outMsg += "R"; outMsg += joystick; @@ -192,8 +188,7 @@ void ArmHardwareDriver::releaseAxis(const char joystick, const char dir) } // End Effector Hardware Driver Functions -void ArmHardwareDriver::endEffector(const char dir) -{ +void ArmHardwareDriver::endEffector(const char dir) { std::string outMsg = "EE"; outMsg += dir; outMsg += "\n"; @@ -202,41 +197,35 @@ void ArmHardwareDriver::endEffector(const char dir) recieveMsg(); } -void ArmHardwareDriver::endEffectorRel() -{ +void ArmHardwareDriver::endEffectorRel() { std::string outMsg = "EER\n"; sendMsg(outMsg); } // Drilling Mode Hardware Driver Functions -void ArmHardwareDriver::prepareDrilling() -{ +void ArmHardwareDriver::prepareDrilling() { std::string outMsg = "DMP\n"; sendMsg(outMsg); } -void ArmHardwareDriver::collectSample() -{ +void ArmHardwareDriver::collectSample() { std::string outMsg = "DMC\n"; sendMsg(outMsg); } -void ArmHardwareDriver::depositSample() -{ +void ArmHardwareDriver::depositSample() { std::string outMsg = "DMD\n"; sendMsg(outMsg); } -void ArmHardwareDriver::manualDrill(const char dir) -{ +void ArmHardwareDriver::manualDrill(const char dir) { std::string outMsg = "DMM"; outMsg += dir; outMsg += "\n"; sendMsg(outMsg); } -void ArmHardwareDriver::releaseDrill() -{ +void ArmHardwareDriver::releaseDrill() { std::string outMsg = "DMMX"; outMsg += "\n"; sendMsg(outMsg); @@ -247,28 +236,29 @@ void ArmHardwareDriver::homeArm() { sendMsg(outMsg); } - -void ArmHardwareDriver::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) -{ +void ArmHardwareDriver::armPositionCallBack( +const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // TODO: ihsan fill std::vector type with sb_msgs values - armCmd.assign(observed_msg->positions.begin(), observed_msg->positions.end()); + armCmd.assign(observed_msg->positions.begin(), + observed_msg->positions.end()); jointPosToEncSteps(armCmd, encCmd); std::string outMsg = "MT"; - for (int i = 0; i < num_joints_; ++i) - { + for (int i = 0; i < num_joints_; ++i) { outMsg += 'A' + i; outMsg += std::to_string(encCmd[i]); } outMsg += "\n"; ROS_INFO("Sending angles to teensy"); + // ROS_INFO(outMsg); sendMsg(outMsg); recieveMsg(); } /* deprecated, for reference only -void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, std::vector& joint_positions) +void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, +std::vector& joint_positions) { std::string inMsg = ""; // convert angles to encoder steps for teensy @@ -296,9 +286,7 @@ void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, } */ - -void ArmHardwareDriver::updateEncoderSteps(std::string msg) -{ +void ArmHardwareDriver::updateEncoderSteps(std::string msg) { size_t idx1 = msg.find("A", 2) + 1; size_t idx2 = msg.find("B", 2) + 1; size_t idx3 = msg.find("C", 2) + 1; @@ -306,27 +294,26 @@ void ArmHardwareDriver::updateEncoderSteps(std::string msg) size_t idx5 = msg.find("E", 2) + 1; size_t idx6 = msg.find("F", 2) + 1; size_t idx7 = msg.find("Z", 2) + 1; - encPos[0] = std::stoi(msg.substr(idx1, idx2 - idx1)); - encPos[1] = std::stoi(msg.substr(idx2, idx3 - idx2)); - encPos[2] = std::stoi(msg.substr(idx3, idx4 - idx3)); - encPos[3] = std::stoi(msg.substr(idx4, idx5 - idx4)); - encPos[4] = std::stoi(msg.substr(idx5, idx6 - idx5)); - encPos[5] = std::stoi(msg.substr(idx6, idx7 - idx6)); + encPos[0] = std::stoi(msg.substr(idx1, idx2 - idx1)); + encPos[1] = std::stoi(msg.substr(idx2, idx3 - idx2)); + encPos[2] = std::stoi(msg.substr(idx3, idx4 - idx3)); + encPos[3] = std::stoi(msg.substr(idx4, idx5 - idx4)); + encPos[4] = std::stoi(msg.substr(idx5, idx6 - idx5)); + encPos[5] = std::stoi(msg.substr(idx6, idx7 - idx6)); } -void ArmHardwareDriver::encStepsToJointPos(std::vector& enc_steps, std::vector& joint_positions) -{ - for (int i = 0; i < enc_steps.size(); ++i) - { +void ArmHardwareDriver::encStepsToJointPos( +std::vector& enc_steps, std::vector& joint_positions) { + for (int i = 0; i < enc_steps.size(); ++i) { // convert enc steps to joint deg - joint_positions[i] = static_cast(enc_steps[i]) / encStepsPerDeg[i]; + joint_positions[i] = + static_cast(enc_steps[i]) / encStepsPerDeg[i]; } } -void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, std::vector& enc_steps) -{ - for (int i = 0; i < joint_positions.size(); ++i) - { +void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, + std::vector& enc_steps) { + for (int i = 0; i < joint_positions.size(); ++i) { // convert joint deg to enc steps enc_steps[i] = static_cast(joint_positions[i] * encStepsPerDeg[i]); } @@ -334,44 +321,38 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, // Libserial Implementation -void ArmHardwareDriver::sendMsg(std::string outMsg) -{ +void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port - + teensy << outMsg; ROS_INFO("Sent via serial: %s", outMsg.c_str()); } -void ArmHardwareDriver::recieveMsg() -{ +void ArmHardwareDriver::recieveMsg() { // fill inMsg string with whatever comes through serial port until \n std::stringstream buffer; char next_char; do { - teensy >> next_char; - ROS_INFO("next_char: '%c'", next_char); - buffer << next_char; + teensy >> next_char; + ROS_INFO("next_char: '%c'", next_char); + buffer << next_char; } while (next_char != 'Z'); std::string inMsg = buffer.str(); if (inMsg[0] != 'Z') - { - if(inMsg.substr(0, 2) == "JP") - { - ROS_INFO("Sending Arm Position to HW Interface"); - updateEncoderSteps(inMsg); - encStepsToJointPos(encPos , armPos); - updateHWInterface(); + if (inMsg.substr(0, 2) == "JP") { + if (inMsg.substr(0, 2) == "JP") { + ROS_INFO("Sending Arm Position to HW Interface"); + updateEncoderSteps(inMsg); + encStepsToJointPos(encPos, armPos); + updateHWInterface(); + } else if (inMsg.substr(0, 2) == "EE") + ROS_INFO("%s", inMsg.c_str()); } - else if (inMsg.substr(0, 2) == "EE") - ROS_INFO("%s", inMsg.c_str()); - } } -void ArmHardwareDriver::updateHWInterface() -{ +void ArmHardwareDriver::updateHWInterface() { // TODO: Ihsan fill in correct message implementation sb_msgs::ArmPosition outMsg; outMsg.positions.assign(armPos.begin(), armPos.end()); pub_observed_pos.publish(outMsg); } - diff --git a/src/arm_hardware_driver/src/arm_hardware_driver.cpp b/src/arm_hardware_driver/src/arm_hardware_driver.cpp index 28cbd87f4..a3561337f 100644 --- a/src/arm_hardware_driver/src/arm_hardware_driver.cpp +++ b/src/arm_hardware_driver/src/arm_hardware_driver.cpp @@ -5,16 +5,26 @@ */ #include "../include/armHardwareDriver.h" +#include int main(int argc, char** argv) { + + // Setup your ROS node std::string node_name = "arm_hardware_driver"; + ros::CallbackQueue ros_queue; + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + nh.setCallbackQueue(&ros_queue); // Create an instance of your class - ArmHardwareDriver teensyComm(argc, argv, node_name); + ArmHardwareDriver teensyComm(nh); + + // Start up ros. This will continue to run until the node is killed - ros::spin(); + ros::MultiThreadedSpinner spinner(0); + spinner.spin(&ros_queue); // Once the node stops, return 0 return 0; diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 15c3e2290..32bebf57a 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -22,7 +22,7 @@ using namespace hardware_interface; class ArmHardwareInterface: public hardware_interface::RobotHW { public: - ArmHardwareInterface(int argc, char** argv, std::string node_name); + ArmHardwareInterface(ros::NodeHandle& nh); ~ArmHardwareInterface(); void init(); @@ -31,6 +31,7 @@ using namespace hardware_interface; void cmdArmPosition(const ros::TimerEvent& e); private: + ros::NodeHandle nh; ros::Timer non_realtime_loop_; ros::Duration control_period_; ros::Duration elapsed_time_; diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index a1f77fece..b46f2d3b6 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -32,7 +32,6 @@ + args="controllers/state /controllers/position"/> diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 391f3636e..c952699a1 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -1,134 +1,144 @@ -#include #include -#include #include -#include +#include #include +#include +#include - -ArmHardwareInterface::ArmHardwareInterface(int argc, char** argv, std::string node_name) -{ - ros::init(argc, argv, node_name); - ros::NodeHandle nh_; - ros::NodeHandle private_nh("~"); +ArmHardwareInterface::ArmHardwareInterface(ros::NodeHandle& nh) : nh(nh) { + // ros::NodeHandle private_nh("~"); std::string modeSubscriber = "/moveit_toggle"; - subMode = nh_.subscribe( + subMode = nh.subscribe( modeSubscriber, 10, &ArmHardwareInterface::controllerModeCallBack, this); - std::string arm_pos_subscriber = "/observed_pos_arm"; - sub_arm_pos = nh_.subscribe(arm_pos_subscriber, 10, &ArmHardwareInterface::armPositionCallBack, this); - std::string arm_pos_publisher = "/cmd_pos_arm"; - pub_arm_pos = private_nh.advertise(arm_pos_publisher, 1); - - - nh_.getParam("/hardware_interface/joints", joint_names_); - if (joint_names_.size() == 0) - { - ROS_FATAL_STREAM_NAMED("init", "No joints found on parameter server for controller. Did you load the proper yaml file?"); - } - init(); - - // init ros controller manager - controller_manager_.reset(new controller_manager::ControllerManager(this, nh_)); - - nh_.param("/hardware_interface/loop_hz", loop_hz_, 0.1); - ROS_DEBUG_STREAM_NAMED("constructor", "Using loop freqency of " << loop_hz_ << " hz"); - ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); - non_realtime_loop_ = nh_.createTimer(update_freq, &ArmHardwareInterface::cmdArmPosition, this); - - // initialize controller - for (int i = 0; i < num_joints_; ++i) - { - ROS_DEBUG_STREAM_NAMED("constructor", "Loading joint name: " << joint_names_[i]); - - // Create joint state interface - JointStateHandle jointStateHandle(joint_names_[i], &joint_positions_[i], &joint_velocities_[i], &joint_efforts_[i]); - joint_state_interface_.registerHandle(jointStateHandle); - - // Create position joint interface - JointHandle jointPositionHandle(jointStateHandle, &joint_position_commands_[i]); - position_joint_interface_.registerHandle(jointPositionHandle); - } - - for (int i = 0; i < num_joints_; ++i) - { - if (!nh_.getParam("/hardware_interface/joint_offsets/" + joint_names_[i], joint_offsets_[i])) - { - ROS_WARN("Failed to get params for /hardware_interface/joint_offsets/%s", joint_names_[i].c_str()); - joint_offsets_[i] = 0; - } - - } - - for (int i = 0; i < num_joints_; ++i) - { - // assign zero angles initially - joint_positions_[i] = 0; - joint_position_commands_[i] = 0; - } - registerInterface(&joint_state_interface_); - registerInterface(&position_joint_interface_); -} + std::string arm_pos_subscriber = "/observed_pos_arm"; + sub_arm_pos = nh.subscribe( + arm_pos_subscriber, 10, &ArmHardwareInterface::armPositionCallBack, this); + std::string arm_pos_publisher = "/cmd_pos_arm"; + pub_arm_pos = nh.advertise(arm_pos_publisher, 1); + + ROS_INFO("1"); + + nh.getParam("/hardware_interface/joints", joint_names_); + if (joint_names_.size() == 0) { + ROS_FATAL_STREAM_NAMED( + "init", + "No joints found on parameter server for controller. Did you load the " + "proper yaml file?"); + } + init(); + + // init ros controller manager + controller_manager_.reset( + new controller_manager::ControllerManager(this, nh)); + + nh.param("/hardware_interface/loop_hz", loop_hz_, 0.1); + ROS_DEBUG_STREAM_NAMED("constructor", + "Using loop freqency of " << loop_hz_ << " hz"); + ros::Duration update_freq = ros::Duration(1.0 / loop_hz_); + non_realtime_loop_ = + nh.createTimer(update_freq, &ArmHardwareInterface::cmdArmPosition, this); + + // initialize controller + for (int i = 0; i < num_joints_; ++i) { + ROS_DEBUG_STREAM_NAMED("constructor", + "Loading joint name: " << joint_names_[i]); + + // Create joint state interface + JointStateHandle jointStateHandle(joint_names_[i], + &joint_positions_[i], + &joint_velocities_[i], + &joint_efforts_[i]); + joint_state_interface_.registerHandle(jointStateHandle); + + // Create position joint interface + JointHandle jointPositionHandle(jointStateHandle, + &joint_position_commands_[i]); + position_joint_interface_.registerHandle(jointPositionHandle); + } -ArmHardwareInterface::~ArmHardwareInterface() -{ + for (int i = 0; i < num_joints_; ++i) { + if (!nh.getParam("/hardware_interface/joint_offsets/" + joint_names_[i], + joint_offsets_[i])) { + ROS_WARN( + "Failed to get params for /hardware_interface/joint_offsets/%s", + joint_names_[i].c_str()); + joint_offsets_[i] = 0; + } + } + + for (int i = 0; i < num_joints_; ++i) { + // assign zero angles initially + joint_positions_[i] = 0; + joint_position_commands_[i] = 0; + } + registerInterface(&joint_state_interface_); + registerInterface(&position_joint_interface_); } -void ArmHardwareInterface::controllerModeCallBack(const std_msgs::Bool::ConstPtr& inMsg) -{ - cartesian_mode = inMsg->data; +ArmHardwareInterface::~ArmHardwareInterface() {} + +void ArmHardwareInterface::controllerModeCallBack( +const std_msgs::Bool::ConstPtr& inMsg) { + cartesian_mode = inMsg->data; if (cartesian_mode) ROS_INFO("Enabling Cartesian Mode"); else ROS_INFO("Disabling Cartesian Mode"); } -void ArmHardwareInterface::armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { - +void ArmHardwareInterface::armPositionCallBack( +const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // TODO: ihsan implement snowbots message type - //actuator_positions_ = ___________ + // actuator_positions_ = ___________ ROS_INFO("Received new message"); - actuator_positions_.assign(observed_msg->positions.begin(), observed_msg->positions.end()); - - if (!cartesian_mode) - { - for (int i = 0; i < num_joints_; ++i) - { - // apply offsets, convert from deg to rad for moveit - joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); - joint_position_commands_[i] = joint_positions_[i]; - } - } - else - { - read(); - controller_manager_->update(ros::Time::now(), elapsed_time_); + actuator_positions_.assign(observed_msg->positions.begin(), + observed_msg->positions.end()); + + if (!cartesian_mode) { + for (int i = 0; i < num_joints_; ++i) { + // apply offsets, convert from deg to rad for moveit + joint_positions_[i] = + degToRad(actuator_positions_[i] + joint_offsets_[i]); + joint_position_commands_[i] = joint_positions_[i]; + } + } else { + read(); + controller_manager_->update(ros::Time::now(), elapsed_time_); } } -void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent &e) -{ - elapsed_time_ = ros::Duration(e.current_real - e.last_real); - write(elapsed_time_); +void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { + // ROS_INFO("-I- Timer Initiated Position Exchange"); + elapsed_time_ = ros::Duration(e.current_real - e.last_real); + + // TODO: ihsan inspect lines below + // sb_msgs::ArmPosition cmdPos; + // cmdPos.positions.assign(actuator_commands_.begin(), + // actuator_commands_.end()); pub_arm_pos.publish(cmdPos); - // TODO: ihsan inspect lines below - sb_msgs::ArmPosition cmdPos; - cmdPos.positions.assign(actuator_commands_.begin(), actuator_commands_.end()); - pub_arm_pos.publish(cmdPos); + for (int i = 0; i < num_joints_; ++i) { + joint_positions_[i] = joint_position_commands_[i]; + controller_manager_->update(ros::Time::now(), elapsed_time_); + + std::ostringstream ss; + ss << "j" << i << ": " << joint_positions_[i]; + std::string str = ss.str(); + ROS_INFO(str.c_str()); + } } -void ArmHardwareInterface::init() -{ - // get joint names - num_joints_ = static_cast(joint_names_.size()); - - // resize vectors - actuator_commands_.resize(num_joints_); - actuator_positions_.resize(num_joints_); - joint_positions_.resize(num_joints_); - joint_velocities_.resize(num_joints_); - joint_efforts_.resize(num_joints_); - joint_position_commands_.resize(num_joints_); - joint_offsets_.resize(num_joints_); +void ArmHardwareInterface::init() { + // get joint names + num_joints_ = static_cast(joint_names_.size()); + + // resize vectors + actuator_commands_.resize(num_joints_); + actuator_positions_.resize(num_joints_); + joint_positions_.resize(num_joints_); + joint_velocities_.resize(num_joints_); + joint_efforts_.resize(num_joints_); + joint_position_commands_.resize(num_joints_); + joint_offsets_.resize(num_joints_); } /* deprecated, for reference only @@ -136,64 +146,62 @@ void ArmHardwareInterface::init() void ArmHardwareInterface::update(const ros::TimerEvent &e) { - if(cartesian_mode) - { - std::string logInfo = "\n"; - logInfo += "Joint Position Command:\n"; - for (int i = 0; i < num_joints_; i++) - { - std::ostringstream jointPositionStr; - jointPositionStr << radToDeg(joint_position_commands_[i]); - logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + "\n"; - } - - elapsed_time_ = ros::Duration(e.current_real - e.last_real); - - write(elapsed_time_); - read(); - - logInfo += "Joint Position State:\n"; - for (int i = 0; i < num_joints_; i++) - { - std::ostringstream jointPositionStr; - jointPositionStr << radToDeg(joint_positions_[i]); - logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + "\n"; - } - - controller_manager_->update(ros::Time::now(), elapsed_time_); - - ROS_INFO_STREAM(logInfo); - } + if(cartesian_mode) + { + std::string logInfo = "\n"; + logInfo += "Joint Position Command:\n"; + for (int i = 0; i < num_joints_; i++) + { + std::ostringstream jointPositionStr; + jointPositionStr << radToDeg(joint_position_commands_[i]); + logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + +"\n"; + } + + elapsed_time_ = ros::Duration(e.current_real - e.last_real); + + write(elapsed_time_); + read(); + + logInfo += "Joint Position State:\n"; + for (int i = 0; i < num_joints_; i++) + { + std::ostringstream jointPositionStr; + jointPositionStr << radToDeg(joint_positions_[i]); + logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + +"\n"; + } + + controller_manager_->update(ros::Time::now(), elapsed_time_); + + ROS_INFO_STREAM(logInfo); + } } */ -void ArmHardwareInterface::read() -{ - // TODO: assign observed_msg components to actuator_positions_ +void ArmHardwareInterface::read() { + // TODO: assign observed_msg components to actuator_positions_ - for (int i = 0; i < num_joints_; ++i) - { - // apply offsets, convert from deg to rad for moveit - joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); - } + for (int i = 0; i < num_joints_; ++i) { + // apply offsets, convert from deg to rad for moveit + joint_positions_[i] = + degToRad(actuator_positions_[i] + joint_offsets_[i]); + } } -void ArmHardwareInterface::write(ros::Duration elapsed_time) -{ - for (int i = 0; i < num_joints_; ++i) - { - // convert from rad to deg, apply offsets - actuator_commands_[i] = radToDeg(joint_position_commands_[i]) - joint_offsets_[i]; - } +void ArmHardwareInterface::write(ros::Duration elapsed_time) { + for (int i = 0; i < num_joints_; ++i) { + // convert from rad to deg, apply offsets + actuator_commands_[i] = + radToDeg(joint_position_commands_[i]) - joint_offsets_[i]; + } } -double ArmHardwareInterface::degToRad(double deg) -{ - return deg / 180.0 * M_PI; +double ArmHardwareInterface::degToRad(double deg) { + return deg / 180.0 * M_PI; } -double ArmHardwareInterface::radToDeg(double rad) -{ - return rad / M_PI * 180.0; +double ArmHardwareInterface::radToDeg(double rad) { + return rad / M_PI * 180.0; } diff --git a/src/arm_hardware_interface/src/arm_hardware_interface.cpp b/src/arm_hardware_interface/src/arm_hardware_interface.cpp index dca612544..33924499e 100644 --- a/src/arm_hardware_interface/src/arm_hardware_interface.cpp +++ b/src/arm_hardware_interface/src/arm_hardware_interface.cpp @@ -1,13 +1,15 @@ #include - -int main(int argc, char** argv) -{ - - std::string node_name = "arm_hardware_interface"; - - ArmHardwareInterface moveitArm(argc, argv, node_name); - - ros::spin(); - - return 0; +#include + +int main(int argc, char** argv) { + std::string node_name = "arm_hardware_interface"; + ros::init(argc, argv, node_name); + ros::CallbackQueue ros_queue; + ros::NodeHandle nh; + nh.setCallbackQueue(&ros_queue); + ArmHardwareInterface arm(nh); + + ros::MultiThreadedSpinner spinner(0); + spinner.spin(&ros_queue); + return 0; } diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt index 59a253a9c..5ca575c93 100644 --- a/src/drivers/CMakeLists.txt +++ b/src/drivers/CMakeLists.txt @@ -48,15 +48,6 @@ target_link_libraries(encoder_odometry_node ${catkin_LIBRARIES} ) -add_executable(arm_driver - src/ArmDriver.cpp - src/arm_driver.cpp - include/ArmDriver.h - ) -target_link_libraries(arm_driver - ${catkin_LIBRARIES} - ${libserial_LIBRARIES} - ) ############# ## Testing ## diff --git a/src/drivers/include/ArmDriver.h b/src/drivers/include/ArmDriver.h deleted file mode 100644 index 1a6a0c62e..000000000 --- a/src/drivers/include/ArmDriver.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: June 26th, 2021 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#ifndef DRIVERS_ARM_DRIVER_H -#define DRIVERS_ARM_DRIVER_H -// STD Includes -#include - -// ROS Includes -#include -#include -#include - -// Snowbots Includes -#include - -// Other -#include - -class ArmDriver { -public: - ArmDriver(int argc, char **argv, std::string node_name); - -private: - /** - * Callback function for switching between the Xbox and the Pro Controller - * - * @param msg the boolean received in the callback - * true when the Xbox mode is active - * false when the Pro Controller mode is active - */ - void controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg); - - // The SerialStream to/from the teensy - LibSerial::SerialStream teensy; - - // The Port the teensy is connected to - std::string port; - - // True if we are accepting commands from Xbox controller - // false if we are accepting commands from Pro Controller - bool xbox_mode = false; - - ros::Subscriber my_subscriber; -}; -#endif //DRIVERS_ARM_DRIVER_H diff --git a/src/drivers/src/ArmDriver.cpp b/src/drivers/src/ArmDriver.cpp deleted file mode 100644 index 22ac9aaa2..000000000 --- a/src/drivers/src/ArmDriver.cpp +++ /dev/null @@ -1,36 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: June 26th, 2021 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#include - -ArmDriver::ArmDriver(int argc, char **argv, std::string node_name) { - // Setup NodeHandles - ros::init(argc, argv, node_name); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - - // Get Params - SB_getParam(private_nh, "port", port, (std::string) "/dev/ttyACM0"); - // Open the given serial port - teensy.Open(port); - teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); // adjust - teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); // adjust - - // Setup Subscriber(s) - int queue_size = 10; - my_subscriber = nh.subscribe( - "xbox_mode", queue_size, &ArmDriver::controllerModeCallBack, this); -} - -void ArmDriver::controllerModeCallBack(const std_msgs::Bool::ConstPtr& msg) { - xbox_mode = msg->data; - if (xbox_mode) - ROS_INFO("Enabling Xbox Mode"); - else - ROS_INFO("Enabling Pro Controller Mode"); -} diff --git a/src/drivers/src/arm_driver.cpp b/src/drivers/src/arm_driver.cpp deleted file mode 100644 index 873f199e0..000000000 --- a/src/drivers/src/arm_driver.cpp +++ /dev/null @@ -1,24 +0,0 @@ -/* - * Created By: Ihsan Olawale, Tate Kolton - * Created On: June 26th, 2021 - * Description: An example node that subscribes to a topic publishing strings, - * and re-publishes everything it receives to another topic with - * a "!" at the end - */ - -#include - - -int main(int argc, char **argv){ - // Setup your ROS node - std::string node_name = "arm_driver"; - - // Create an instance of your class - ArmDriver arm_driver(argc, argv, node_name); - - // Start up ros. This will continue to run until the node is killed - ros::spin(); - - // Once the node stops, return 0 - return 0; -} diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index 9a594f45b..5b13a54ee 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -3,50 +3,32 @@ # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: j1: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 j2: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 j3: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 j4: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 j5: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 j6: - has_position_limits: true - max_position: 3.14 - min_position: 0 - has_velocity_limits: true - max_velocity: 0.4 - has_acceleration_limits: true - max_acceleration: 0.2 + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/src/snowbots_arm_simplified_configs/launch/move_group.launch b/src/snowbots_arm_simplified_configs/launch/move_group.launch index 778ac33ee..b67e40d89 100755 --- a/src/snowbots_arm_simplified_configs/launch/move_group.launch +++ b/src/snowbots_arm_simplified_configs/launch/move_group.launch @@ -55,8 +55,7 @@ - - + diff --git a/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch b/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch index 9b7fba35a..372a1dd84 100644 --- a/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch +++ b/src/snowbots_arm_simplified_configs/launch/snowbots_arm_moveit_bringup.launch @@ -35,7 +35,4 @@ - - - diff --git a/src/snowbots_arm_simplified_configs/launch/trajectory_execution.launch.xml b/src/snowbots_arm_simplified_configs/launch/trajectory_execution.launch.xml index cdc56b8ca..6516f9cfa 100755 --- a/src/snowbots_arm_simplified_configs/launch/trajectory_execution.launch.xml +++ b/src/snowbots_arm_simplified_configs/launch/trajectory_execution.launch.xml @@ -1,7 +1,6 @@ - @@ -16,8 +15,6 @@ - From ba2960815a4efc8ba29e5898b795a096e921dab8 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 15:07:57 -0700 Subject: [PATCH 053/124] Remove comments on driver to hardware interface communication --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 10 +++++----- .../src/armHardwareInterface.cpp | 6 +++--- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index e715817ba..0a3b49445 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -15,8 +15,8 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { // Setup Subscribers int queue_size = 10; - // subPro = nh.subscribe( - // "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); + subPro = nh.subscribe( + "/cmd_arm", queue_size, &ArmHardwareDriver::teensySerialCallback, this); sub_command_pos = nh.subscribe( "/cmd_pos_arm", queue_size, &ArmHardwareDriver::armPositionCallBack, this); pub_observed_pos = @@ -26,9 +26,9 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { SB_getParam( private_nh, "/hardware_driver/port", port, (std::string) "/dev/ttyACM0"); // Open the given serial port - // teensy.Open(port); - // teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); - // teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); + teensy.Open(port); + teensy.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_9600); + teensy.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8); encCmd.resize(num_joints_); armCmd.resize(num_joints_); diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index c952699a1..5a571bd83 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -112,9 +112,9 @@ void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { elapsed_time_ = ros::Duration(e.current_real - e.last_real); // TODO: ihsan inspect lines below - // sb_msgs::ArmPosition cmdPos; - // cmdPos.positions.assign(actuator_commands_.begin(), - // actuator_commands_.end()); pub_arm_pos.publish(cmdPos); + sb_msgs::ArmPosition cmdPos; + cmdPos.positions.assign(actuator_commands_.begin(), + actuator_commands_.end()); pub_arm_pos.publish(cmdPos); for (int i = 0; i < num_joints_; ++i) { joint_positions_[i] = joint_position_commands_[i]; From 53ae72e25727c90d0c18ed062afa50d5b95bd32b Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 15:43:06 -0700 Subject: [PATCH 054/124] Add joint limits, fix encoder equation, comment out timer function --- setup_scripts/moveitjoy_module.py | 4 +- .../src/armHardwareDriver.cpp | 2 +- .../config/joint_limits.yaml | 66 ++++++++++++------- 3 files changed, 46 insertions(+), 26 deletions(-) diff --git a/setup_scripts/moveitjoy_module.py b/setup_scripts/moveitjoy_module.py index 067cec583..05fd02578 100755 --- a/setup_scripts/moveitjoy_module.py +++ b/setup_scripts/moveitjoy_module.py @@ -629,13 +629,15 @@ def __init__(self): self.sub = rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=1) self.sub = rospy.Subscriber("/moveit_toggle", Bool, self.controllerCB, queue_size=1) - rospy.Timer(rospy.Duration(0.1), planAndExecute) + # rospy.Timer(rospy.Duration(0.1), planAndExecute) + ''' def planAndExecute(self, timerEvent): if(proControllerEnabled): self.plan_pub.publish(Empty()) self.execute_pub.publish(Empty()) + ''' def updatePlanningGroup(self, next_index): if next_index >= len(self.planning_groups_keys): diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 0a3b49445..cd18ccf03 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -38,7 +38,7 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { armCmd.resize(num_joints_); for (int i = 0; i < num_joints_; i++) { - encStepsPerDeg[i] = reductions[i] * ppr / (360.0 * encppr * 4.0); + encStepsPerDeg[i] = reductions[i] * ppr * 5.12 / 360.0; } } diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index 5b13a54ee..9255d4e45 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -3,32 +3,50 @@ # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: j1: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 j2: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 j3: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 j4: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 j5: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 j6: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_position_limits: true + max_position: 1.57 + min_position: -1.57 + has_velocity_limits: true + max_velocity: 0.4 + has_acceleration_limits: true + max_acceleration: 0.2 From aee6be5903c6c1ed5cb7dcf596532f2b053f4880 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 15:44:00 -0700 Subject: [PATCH 055/124] fw changes --- .../src/armFirmware/armFirmware.ino | 33 ++++++++++--------- 1 file changed, 18 insertions(+), 15 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 9aaa1b02b..50a573631 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -71,20 +71,16 @@ long ppr[6] = {400, 400, 400, 400, 400, 400}; // Gear Reduction Ratios float red[6] = {50.0, 161.0, 44.8, 93.07, 57.34, 57.34}; +float redIK[6] = {50.0, 161.0, 93.07, 44.8, 57.34, 57.34}; // Encoder Variables int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; int pprEnc = 512; -int ENC_DIR[6] = {1, -1, -1, -1, -1, -1}; +int ENC_DIR[6] = {-1, -1, -1, -1, 1, 1}; const float ENC_MULT[] = {5.12, 5.12, 5.12, 5.12, 5.12, 5.12}; float ENC_STEPS_PER_DEG[NUM_AXES]; -for(int i=0; i Date: Sat, 6 Aug 2022 15:53:44 -0700 Subject: [PATCH 056/124] update --- .../src/armHardwareInterface.cpp | 55 +------------------ 1 file changed, 3 insertions(+), 52 deletions(-) diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 5a571bd83..4b9214733 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -108,23 +108,13 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { } void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { - // ROS_INFO("-I- Timer Initiated Position Exchange"); + + ROS_INFO("-I- Timer Initiated Position Exchange"); elapsed_time_ = ros::Duration(e.current_real - e.last_real); - - // TODO: ihsan inspect lines below + write(elapsed_time); sb_msgs::ArmPosition cmdPos; cmdPos.positions.assign(actuator_commands_.begin(), actuator_commands_.end()); pub_arm_pos.publish(cmdPos); - - for (int i = 0; i < num_joints_; ++i) { - joint_positions_[i] = joint_position_commands_[i]; - controller_manager_->update(ros::Time::now(), elapsed_time_); - - std::ostringstream ss; - ss << "j" << i << ": " << joint_positions_[i]; - std::string str = ss.str(); - ROS_INFO(str.c_str()); - } } void ArmHardwareInterface::init() { @@ -141,45 +131,6 @@ void ArmHardwareInterface::init() { joint_offsets_.resize(num_joints_); } -/* deprecated, for reference only - -void ArmHardwareInterface::update(const ros::TimerEvent &e) -{ - - if(cartesian_mode) - { - std::string logInfo = "\n"; - logInfo += "Joint Position Command:\n"; - for (int i = 0; i < num_joints_; i++) - { - std::ostringstream jointPositionStr; - jointPositionStr << radToDeg(joint_position_commands_[i]); - logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + -"\n"; - } - - elapsed_time_ = ros::Duration(e.current_real - e.last_real); - - write(elapsed_time_); - read(); - - logInfo += "Joint Position State:\n"; - for (int i = 0; i < num_joints_; i++) - { - std::ostringstream jointPositionStr; - jointPositionStr << radToDeg(joint_positions_[i]); - logInfo += " " + joint_names_[i] + ": " + jointPositionStr.str() + -"\n"; - } - - controller_manager_->update(ros::Time::now(), elapsed_time_); - - ROS_INFO_STREAM(logInfo); - } -} - -*/ - void ArmHardwareInterface::read() { // TODO: assign observed_msg components to actuator_positions_ From 65c7f8aa38db30e0ad73aee115eb85e07f52dfa2 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 16:16:06 -0700 Subject: [PATCH 057/124] Only execute timer function when in cartesian mode --- .../src/armHardwareInterface.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 4b9214733..eee576c8b 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -108,13 +108,14 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { } void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { - - ROS_INFO("-I- Timer Initiated Position Exchange"); - elapsed_time_ = ros::Duration(e.current_real - e.last_real); - write(elapsed_time); - sb_msgs::ArmPosition cmdPos; - cmdPos.positions.assign(actuator_commands_.begin(), - actuator_commands_.end()); pub_arm_pos.publish(cmdPos); + if (cartesian_mode) { + ROS_INFO("-I- Timer Initiated Position Exchange"); + elapsed_time_ = ros::Duration(e.current_real - e.last_real); + write(elapsed_time_); + sb_msgs::ArmPosition cmdPos; + cmdPos.positions.assign(actuator_commands_.begin(), + actuator_commands_.end()); pub_arm_pos.publish(cmdPos); + } } void ArmHardwareInterface::init() { From c55f30a5a12280623a921cde6ca92b9dc08284dc Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 16:36:09 -0700 Subject: [PATCH 058/124] Fix mapping of wrist button presses --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index cd18ccf03..d18232e43 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -75,13 +75,13 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == rightJSD) { jointSpaceMove(right, down); } else if (action == buttonA) { - jointSpaceMove(wrist, down); - } else if (action == buttonB) { jointSpaceMove(wrist, right); + } else if (action == buttonB) { + jointSpaceMove(wrist, down); } else if (action == buttonX) { - jointSpaceMove(wrist, left); - } else if (action == buttonY) { jointSpaceMove(wrist, up); + } else if (action == buttonY) { + jointSpaceMove(wrist, left); } else if (action == triggerL) { changeAxis(down); } else if (action == triggerR) { From 20985399f2aec2c03251ab3d12cdbd2f8695126c Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 6 Aug 2022 17:31:49 -0700 Subject: [PATCH 059/124] Remove joint offsets --- src/arm_hardware_interface/config/joint_offsets.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/arm_hardware_interface/config/joint_offsets.yaml b/src/arm_hardware_interface/config/joint_offsets.yaml index c8e7bb9ed..6eea01715 100644 --- a/src/arm_hardware_interface/config/joint_offsets.yaml +++ b/src/arm_hardware_interface/config/joint_offsets.yaml @@ -1,8 +1,8 @@ hardware_interface: joint_offsets: # degrees - j1: -170.0 # default -170.0 - j2: -39.6 # default -39.6 - j3: 0.0 # default 0.0 - j4: -164.5 # default -164.5 - j5: -104.5 # default -104.15 - j6: -148.1 # default -148.1 + j1: 0.0 + j2: 0.0 + j3: 0.0 + j4: 0.0 + j5: 0.0 + j6: 0.0 From f1661bf27f7d9dea6368df85894284e3c9aa4bc2 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 13:06:12 -0700 Subject: [PATCH 060/124] test --- .../src/armFirmware/armFirmware.ino | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 50a573631..31b8ce0d4 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -139,8 +139,8 @@ int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 105 int speedIndex = maxSpeedIndex; // Cartesian mode speed settings -float IKspeeds[] = {0.4, 0.4, 0.4, 0.4, 0.4, 0.4}; -float IKaccs[] = {0.2, 0.2, 0.2, 0.2, 0.2, 0.2}; +float IKspeeds[] = {0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; +float IKaccs[] = {0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -250,7 +250,7 @@ void cartesianCommands(String inMsg) readEncPos(curEncSteps); // update host with joint positions - sendCurrentPosition(); + //sendCurrentPosition(); if(!IKFlag) { @@ -320,7 +320,7 @@ void jointCommands(String inMsg) jointMovement(detail1, inMsg[4]); // update HW interface with joint positions readEncPos(curEncSteps); - sendPosNonIK(); + //sendPosNonIK(); } void endEffectorCommands(String inMsg) @@ -343,7 +343,7 @@ void endEffectorCommands(String inMsg) } // need to only send force if a certain time interval defined by timeVal has passed - sendForce(force); + //sendForce(force); } int getForce() @@ -705,7 +705,6 @@ void homeArm() { // main function for full arm homing //homeEE(); initializeMotion(); zeroEncoders(); - Serial.println("Arm Homed\n"); for(int i=0; i 0) { - Serial.println("recieved"); recieved = Serial.read(); inData += String(recieved); if(recieved == '\n') From 16c22eefabb52f2cc91fd026e4fc8c59a7b86033 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 15:47:23 -0700 Subject: [PATCH 061/124] added encoder fix --- .../src/armFirmware/armFirmware.ino | 91 ++++++++++++++----- 1 file changed, 67 insertions(+), 24 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 31b8ce0d4..4a1e54175 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -87,16 +87,15 @@ int maxAccel[8] = {1300, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; int homeSpeed[8] = {300, 1000, 1000, 400, 2000, 2000, 2000, 2000}; // {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; -// Range of motion (degrees) for each axis -int maxAngles[6] = {180, 140, 180, 120, 140, 100}; // Time variables const unsigned long readInterval = 10; unsigned long currentTime; +unsigned long currentTimeJP; unsigned long previousTime = 0; unsigned long previousTimeEE = 0; const unsigned long timeIntervalEE = 100; -const unsigned long timeIntervalJP = 300; +const unsigned long timeIntervalJP = 250; unsigned long previousTimeJP = 0; // stepper motor objects for AccelStepper library @@ -114,7 +113,7 @@ Encoder enc6(encPinA[5], encPinB[5]); Encoder encoders[] = {enc1, enc2, enc3, enc4, enc5, enc6}; // variable declarations -long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; + int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; int axisDirIK[6] = {-1, -1, -1, 1, -1, -1}; int currentAxis = 1; @@ -131,6 +130,10 @@ long homeCompAngles[] = {axisDir[0]*10, axisDir[1]*43, axisDir[2]*90, axisDir[3] long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; +// Range of motion (degrees) for each axis +int maxAngles[6] = {190, 160, 180, 120, 180, 100}; +long max_steps[] = {axisDir[0]*red[0]*maxAngles[0]/360.0*ppr[0], axisDir[1]*red[1]*maxAngles[1]/360.0*ppr[1], axisDir[2]*red[2]*maxAngles[2]/360.0*ppr[2], axisDir[3]*red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; +long min_steps[NUM_AXES]; char value; // values for changing speed @@ -149,7 +152,19 @@ void setup() { // setup function to initialize pins and provide initial homing t for(int i=0; i= timeIntervalJP) { sendCurrentPosition(); + previousTimeJP = currentTimeJP; } else @@ -434,7 +471,7 @@ void depositSample() void sendCurrentPosition() { String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("Z"); + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); Serial.print(outMsg); } @@ -474,11 +511,12 @@ void jointMovement(char joystick, char dir) void readEncPos(int* encPos) { - for(i=0; i both wrist motors spin in opposite directions + if(axis == 6) { if(runFlags[5] == 1 && dir == FWD) { } @@ -588,13 +628,13 @@ void runWrist(int dir, int axis) { // assigns target position for selected axis } else { - steppers[6].moveTo(0); - steppers[7].moveTo(0); + steppers[6].moveTo(axisDir[6]*min_steps[5]); + steppers[7].moveTo(axisDir[7]*min_steps[5]); runFlags[5] = -1; } } - else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction + else if(axis == 5) { dir = !dir; if(runFlags[4] == 1 && dir == FWD) { } @@ -609,8 +649,8 @@ void runWrist(int dir, int axis) { // assigns target position for selected axis } else { - steppers[4].moveTo(0); - steppers[5].moveTo(0); + steppers[4].moveTo(axisDir[4]*min_steps[4]); + steppers[5].moveTo(axisDir[5]*min_steps[4]); runFlags[4] = -1; } } @@ -758,6 +798,8 @@ void homeBase() { // homes axes 1-4 } } initializeMotion(); + + } void homeWrist() { // homes axes 5-6 @@ -870,6 +912,7 @@ void initializeMotion() { // sets main program speeds for each axis for(i = 0; i Date: Sun, 7 Aug 2022 15:55:05 -0700 Subject: [PATCH 062/124] added open loop encoder feedback --- .../src/armHardwareDriver.cpp | 36 ++----------------- .../src/armHardwareInterface.cpp | 1 + .../src/armFirmware/armFirmware.ino | 7 ++-- 3 files changed, 7 insertions(+), 37 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d18232e43..bd531c7e6 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -155,6 +155,7 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { outMsg += dir; outMsg += "\n"; sendMsg(outMsg); + // request current joint positions from teensy recieveMsg(); } @@ -194,7 +195,7 @@ void ArmHardwareDriver::endEffector(const char dir) { outMsg += "\n"; sendMsg(outMsg); // sending command to end effector results in force feedback being requested - recieveMsg(); + //recieveMsg(); } void ArmHardwareDriver::endEffectorRel() { @@ -252,39 +253,8 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { ROS_INFO("Sending angles to teensy"); // ROS_INFO(outMsg); sendMsg(outMsg); - recieveMsg(); -} - -/* deprecated, for reference only - -void ArmHardwareDriver::cartesian_moveit_move(std::vector& pos_commands, -std::vector& joint_positions) -{ - std::string inMsg = ""; - // convert angles to encoder steps for teensy - jointPosToEncSteps(pos_commands, enc_commands_); - - // construct update message - std::string outMsg = "MT"; - for (int i = 0; i < num_joints_; ++i) - { - outMsg += 'A' + i; - outMsg += std::to_string(enc_commands_[i]); - } - outMsg += "\n"; - - // run the communication with board - sendMsg(outMsg); - - // get feedback from arm - recieveMsg(inMsg); - ROS_INFO("Recieved Arm Current Position"); - updateEncoderSteps(inMsg); - - // convert from encoder steps to angles - encStepsToJointPos(enc_steps_ , joint_positions); + //recieveMsg(); } -*/ void ArmHardwareDriver::updateEncoderSteps(std::string msg) { size_t idx1 = msg.find("A", 2) + 1; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index eee576c8b..8b3f7dda0 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -115,6 +115,7 @@ void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { sb_msgs::ArmPosition cmdPos; cmdPos.positions.assign(actuator_commands_.begin(), actuator_commands_.end()); pub_arm_pos.publish(cmdPos); + controller_manager_->update(ros::Time::now(), elapsed_time_); } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 4a1e54175..c069d6394 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -268,8 +268,6 @@ void cartesianToJointSpace() { steppers[i].setCurrentPosition(curJointPos[i]); } - - } void sendMessage(char outChar) @@ -354,9 +352,10 @@ void jointCommands(String inMsg) changeAxis(detail1); else if(function == move) jointMovement(detail1, inMsg[4]); + // update HW interface with joint positions readEncPos(curEncSteps); - //sendPosNonIK(); + sendPosNonIK(); } void endEffectorCommands(String inMsg) @@ -471,7 +470,7 @@ void depositSample() void sendCurrentPosition() { String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("Z"); Serial.print(outMsg); } From ba02d3c6592a5f593837337cb63ae1b1837bebeb Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 16:19:48 -0700 Subject: [PATCH 063/124] progress --- src/teensy-firmware/src/armFirmware/armFirmware.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index c069d6394..ddddf1bba 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -613,7 +613,7 @@ void runAxes(int dir, int axis) { // assigns run flags to indicate forward / rev void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. - if(axis == 6) { + if(axis == 5) { if(runFlags[5] == 1 && dir == FWD) { } @@ -633,7 +633,7 @@ void runWrist(int dir, int axis) { // assigns target position for selected axis } } - else if(axis == 5) { + else if(axis == 6) { dir = !dir; if(runFlags[4] == 1 && dir == FWD) { } From 7b3902d475d7cd14aea562a5860aad6439bc1183 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 16:00:52 -0700 Subject: [PATCH 064/124] Fix position, velocity, and acceleration limits --- .../config/joint_limits.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index 9255d4e45..cf75a8a7f 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -7,46 +7,46 @@ joint_limits: max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 j2: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 j3: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 j4: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 j5: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 j6: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.4 + max_velocity: 0.1 has_acceleration_limits: true - max_acceleration: 0.2 + max_acceleration: 0.1 From f4bf43c4d27a7041fcf8b5ed69fd2ccd9b29806e Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 16:59:13 -0700 Subject: [PATCH 065/124] Invert controller buttons for wrist control and remove overwritten joint positions --- .../src/armHardwareDriver.cpp | 17 +++++++++-------- .../launch/arm_hardware_bringup.launch | 2 ++ .../src/armHardwareInterface.cpp | 3 ++- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index bd531c7e6..384b62efb 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -75,13 +75,13 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == rightJSD) { jointSpaceMove(right, down); } else if (action == buttonA) { - jointSpaceMove(wrist, right); + jointSpaceMove(wrist, up); } else if (action == buttonB) { - jointSpaceMove(wrist, down); + jointSpaceMove(wrist, left); } else if (action == buttonX) { - jointSpaceMove(wrist, up); + jointSpaceMove(wrist, right); } else if (action == buttonY) { - jointSpaceMove(wrist, left); + jointSpaceMove(wrist, down); } else if (action == triggerL) { changeAxis(down); } else if (action == triggerR) { @@ -91,13 +91,13 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == rightJSRel) { releaseAxis(right, garbage); } else if (action == buttonARel) { - releaseAxis(wrist, right); + releaseAxis(wrist, up); } else if (action == buttonBRel) { - releaseAxis(wrist, down); + releaseAxis(wrist, left); } else if (action == buttonXRel) { - releaseAxis(wrist, up); + releaseAxis(wrist, right); } else if (action == buttonYRel) { - releaseAxis(wrist, left); + releaseAxis(wrist, down); } else if (action == arrowU) { changeSpeed(up); } else if (action == arrowD) { @@ -235,6 +235,7 @@ void ArmHardwareDriver::releaseDrill() { void ArmHardwareDriver::homeArm() { std::string outMsg = "HM\n"; sendMsg(outMsg); + recieveMsg(); } void ArmHardwareDriver::armPositionCallBack( diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index b46f2d3b6..52ac02bd9 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -25,7 +25,9 @@ + diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 8b3f7dda0..ca0020e7b 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -99,8 +99,9 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // apply offsets, convert from deg to rad for moveit joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); - joint_position_commands_[i] = joint_positions_[i]; + // joint_position_commands_[i] = joint_positions_[i]; } + controller_manager_->update(ros::Time::now(), elapsed_time_); } else { read(); controller_manager_->update(ros::Time::now(), elapsed_time_); From f2a766ac5593086c9184504bf03d7e01751eb1a7 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 7 Aug 2022 17:23:27 -0700 Subject: [PATCH 066/124] Close communication loop between driver and interface --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 384b62efb..8d292d763 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -239,10 +239,10 @@ void ArmHardwareDriver::homeArm() { } void ArmHardwareDriver::armPositionCallBack( -const sb_msgs::ArmPosition::ConstPtr& observed_msg) { +const sb_msgs::ArmPosition::ConstPtr& commanded_msg) { // TODO: ihsan fill std::vector type with sb_msgs values - armCmd.assign(observed_msg->positions.begin(), - observed_msg->positions.end()); + armCmd.assign(commanded_msg->positions.begin(), + commanded_msg->positions.end()); jointPosToEncSteps(armCmd, encCmd); std::string outMsg = "MT"; @@ -254,7 +254,7 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { ROS_INFO("Sending angles to teensy"); // ROS_INFO(outMsg); sendMsg(outMsg); - //recieveMsg(); + recieveMsg(); } void ArmHardwareDriver::updateEncoderSteps(std::string msg) { From 113884d5e6a94036e9d5002c8aff700527bb874b Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 11:29:24 -0700 Subject: [PATCH 067/124] added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy --- .../include/armHardwareDriver.h | 4 + .../src/armHardwareDriver.cpp | 50 ++++---- .../src/armFirmware/armFirmware.ino | 114 +++++++++++------- 3 files changed, 97 insertions(+), 71 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index d97bc5371..75f1d4c26 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -100,11 +100,15 @@ class ArmHardwareDriver { const char down = 'D'; const char wrist = 'W'; const char garbage = 'G'; + const char open = 'O'; + const char close = 'C'; int num_joints_ = 6; double ppr = 400.0; double encppr = 512.0; + bool serialOpen = false; + // hardware interface communication variables std::vector encPos, encCmd; std::vector armCmd, armPos, encStepsPerDeg; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 8d292d763..215e415e0 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -63,7 +63,6 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { // Sends joint space motion related commands to teensy void ArmHardwareDriver::joint_space_motion(std::string inMsg) { - ROS_INFO("Joint space command recieved"); char action = inMsg[1]; if (action == leftJSL) { @@ -103,9 +102,9 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == arrowD) { changeSpeed(down); } else if (action == arrowL) { - endEffector(left); + endEffector(open); } else if (action == arrowR) { - endEffector(right); + endEffector(close); } else if (action == arrowRLRel) { endEffectorRel(); } else if (action == homeVal) { @@ -117,9 +116,9 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { char action = inMsg[1]; if (arrowL) { - endEffector(left); + endEffector(open); } else if (arrowRLRel) { - endEffector(right); + endEffector(close); } else if (arrowRLRel) { endEffectorRel(); } @@ -127,7 +126,6 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { - ROS_INFO("Drilling command recieved"); char action = inMsg.at(1); if (buttonA) { @@ -160,10 +158,6 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { } void ArmHardwareDriver::changeSpeed(const char dir) { - ROS_INFO("Changing speed"); - ROS_INFO(dir == up ? "Speed increasing" - : (dir == down ? "Speed decreasing" - : "Incorrect direction provided")); std::string outMsg = "JM"; outMsg = "S"; outMsg += dir; @@ -193,9 +187,14 @@ void ArmHardwareDriver::endEffector(const char dir) { std::string outMsg = "EE"; outMsg += dir; outMsg += "\n"; + if(serialOpen) + { + serialOpen = false; sendMsg(outMsg); // sending command to end effector results in force feedback being requested - //recieveMsg(); + recieveMsg(); + serialOpen = true; + } } void ArmHardwareDriver::endEffectorRel() { @@ -251,10 +250,13 @@ const sb_msgs::ArmPosition::ConstPtr& commanded_msg) { outMsg += std::to_string(encCmd[i]); } outMsg += "\n"; - ROS_INFO("Sending angles to teensy"); - // ROS_INFO(outMsg); - sendMsg(outMsg); - recieveMsg(); + if(serialOpen) + { + serialOpen = false; + sendMsg(outMsg); + recieveMsg(); + serialOpen = true; + } } void ArmHardwareDriver::updateEncoderSteps(std::string msg) { @@ -296,7 +298,7 @@ void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port teensy << outMsg; - ROS_INFO("Sent via serial: %s", outMsg.c_str()); + //ROS_INFO("Sent via serial: %s", outMsg.c_str()); } void ArmHardwareDriver::recieveMsg() { @@ -305,20 +307,18 @@ void ArmHardwareDriver::recieveMsg() { char next_char; do { teensy >> next_char; - ROS_INFO("next_char: '%c'", next_char); buffer << next_char; } while (next_char != 'Z'); std::string inMsg = buffer.str(); if (inMsg[0] != 'Z') + { if (inMsg.substr(0, 2) == "JP") { - if (inMsg.substr(0, 2) == "JP") { - ROS_INFO("Sending Arm Position to HW Interface"); - updateEncoderSteps(inMsg); - encStepsToJointPos(encPos, armPos); - updateHWInterface(); - } else if (inMsg.substr(0, 2) == "EE") - ROS_INFO("%s", inMsg.c_str()); - } + updateEncoderSteps(inMsg); + encStepsToJointPos(encPos, armPos); + updateHWInterface(); + } else if (inMsg.substr(0, 2) == "EE") + ROS_INFO("%s", inMsg.c_str()); + } } void ArmHardwareDriver::updateHWInterface() { diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index ddddf1bba..ab3446dbf 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -40,6 +40,8 @@ static const char collect = 'C'; static const char deposit = 'D'; static const char manual = 'M'; static const char drillRelease = 'X'; +static const char open = 'O'; +static const char close = 'C'; // Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; @@ -59,9 +61,15 @@ int closePos = 0; int openPos = 2000; // needs to be calibrated int EEstepPin = 20; int EEdirPin = 21; -int speedEE = 1000; -int accEE = 5000; +int speedEE = 100; +int accEE = 500; const int MOTOR_DIR_EE = 1; +const int openButton = 5; +const int closeButton = 4; +const float calForce = 0.3; +const float maxForce = 10.0; +float EEforce; +int forcePct = 0; // limit switch pins int limPins[6] = {18, 19, 21, 20, 23, 22}; @@ -92,9 +100,10 @@ int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000 const unsigned long readInterval = 10; unsigned long currentTime; unsigned long currentTimeJP; +unsigned long currentTimeEE; unsigned long previousTime = 0; unsigned long previousTimeEE = 0; -const unsigned long timeIntervalEE = 100; +const unsigned long timeIntervalEE = 500; const unsigned long timeIntervalJP = 250; unsigned long previousTimeJP = 0; @@ -103,6 +112,7 @@ AccelStepper steppers[8]; AccelStepper endEff(1, EEstepPin, EEdirPin); AccelStepper steppersIK[8]; + Encoder enc1(encPinA[0], encPinB[0]); Encoder enc2(encPinA[1], encPinB[1]); Encoder enc3(encPinA[2], encPinB[2]); @@ -131,7 +141,7 @@ long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; // Range of motion (degrees) for each axis -int maxAngles[6] = {190, 160, 180, 120, 180, 100}; +int maxAngles[6] = {190, 160, 180, 120, 100, 180}; long max_steps[] = {axisDir[0]*red[0]*maxAngles[0]/360.0*ppr[0], axisDir[1]*red[1]*maxAngles[1]/360.0*ppr[1], axisDir[2]*red[2]*maxAngles[2]/360.0*ppr[2], axisDir[3]*red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; long min_steps[NUM_AXES]; char value; @@ -169,6 +179,7 @@ void setup() { // setup function to initialize pins and provide initial homing t // initializes end effector motor pinMode(EEstepPin, OUTPUT); pinMode(EEdirPin, OUTPUT); + endEff.setMinPulseWidth(200); // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library for(i = 0; i= 100)) { //else check if release button pressed + else if ((data == release) || (forcePct >= 100)) { //else check if release button pressed endEff.stop(); // stop when above condition reached } // need to only send force if a certain time interval defined by timeVal has passed - //sendForce(force); + sendForce(force); } -int getForce() +void getForce() { - force=scale.get_units()/1000*9.81; - int forcePercent = force*100/maxForce; - return forcePercent; + if(scale.wait_ready_timeout(1)) + { + float force = scale.get_units()/1000*9.81; + forcePct = force*100/maxForce; + } } void sendForce(int forcePercent) { long currentTime = millis(); //checks total runtime - long timeDiff = currentTime - previousTimeEE; //finds interval between runtime and previous checked time + long timeDiff = currentTimeEE - previousTimeEE; //finds interval between runtime and previous checked time if (timeDiff >= timeIntervalEE) { String force_value = String(forcePercent); - String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %\n"); + String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %Z"); Serial.print(force_message); - previousTimeEE = currentTime; + previousTimeEE = currentTimeEE; } else @@ -438,12 +432,12 @@ void manualDrill(char dir) { if(dir == left) { - endEff.move(1000); + endEff.move(99000); } else { - endEff.move(-1000); + endEff.move(-99000); } } @@ -474,6 +468,26 @@ void sendCurrentPosition() Serial.print(outMsg); } +// converts cartesian angles to joint space stepper current positions +void cartesianToJointSpace() +{ + long curJointPos[NUM_AXES_EFF]; + readEncPos(curEncSteps); + curJointPos[0] = curEncSteps[0]/5.12; + curJointPos[1] = curEncSteps[1]/5.12; + curJointPos[3] = curEncSteps[2]/5.12; + curJointPos[2] = curEncSteps[3]/5.12; + curJointPos[6] = curEncSteps[4]/5.12; + curJointPos[7] = curEncSteps[4]/5.12; + curJointPos[4] = curEncSteps[5]/5.12; + curJointPos[5] = curEncSteps[5]/5.12; + + for(int i=0; i Date: Mon, 8 Aug 2022 11:31:27 -0700 Subject: [PATCH 068/124] added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy-quickfix --- src/arm_hardware_driver/include/armHardwareDriver.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 75f1d4c26..3a92ba483 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -107,7 +107,7 @@ class ArmHardwareDriver { double ppr = 400.0; double encppr = 512.0; - bool serialOpen = false; + bool serialOpen = true; // hardware interface communication variables std::vector encPos, encCmd; From 7aaf37d301c406a27e682cbb9b7499f2a10ccb4b Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 12:42:57 -0700 Subject: [PATCH 069/124] added simplified drill mode implementation --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 14 +++++++------- .../src/armFirmware/armFirmware.ino | 8 ++++---- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 215e415e0..33eff6dfb 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -128,9 +128,9 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); - if (buttonA) { + if (buttonARel) { prepareDrilling(); - } else if (buttonB) { + } else if (buttonBRel) { collectSample(); } else if (buttonX) { depositSample(); @@ -158,11 +158,11 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { } void ArmHardwareDriver::changeSpeed(const char dir) { - std::string outMsg = "JM"; - outMsg = "S"; - outMsg += dir; - outMsg += "\n"; - sendMsg(outMsg); + //std::string outMsg = "JM"; + //outMsg = "S"; + //outMsg += dir; + //outMsg += "\n"; + //sendMsg(outMsg); } void ArmHardwareDriver::changeAxis(const char joystick) { diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index ab3446dbf..7fc931546 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -421,9 +421,9 @@ void drillCommands(String inMsg) else if(function == drillRelease) stopDrill(); else if(function == prepare) - prepDrill(); + spinDrill(); else if(function == collect) - collectSample(); + stopDrill(); else if(function == deposit) depositSample(); } @@ -446,9 +446,9 @@ void stopDrill() endEff.stop(); } -void prepDrill() +void spinDrill() { - + endEff.move(99000); } void collectSample() From a237fabfa91d250a33ed7f21c8b6074970fc2d64 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 13:57:15 -0700 Subject: [PATCH 070/124] added DRIVER INITIATED position and end effector force feedback based on a timer --- .../include/armHardwareDriver.h | 3 + .../src/armHardwareDriver.cpp | 75 +++++++++++++------ .../src/armHardwareInterface.cpp | 2 +- .../src/armFirmware/armFirmware.ino | 64 +++++++--------- 4 files changed, 82 insertions(+), 62 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 3a92ba483..55f86ef1c 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -108,6 +108,8 @@ class ArmHardwareDriver { double encppr = 512.0; bool serialOpen = true; + bool dataInTransit = false; + char mode = jointMode; // hardware interface communication variables std::vector encPos, encCmd; @@ -125,6 +127,7 @@ class ArmHardwareDriver { ros::Subscriber subPro; ros::Subscriber sub_command_pos; ros::Publisher pub_observed_pos; + ros::Timer feedbackLoop; // The SerialStream to/from the teensy LibSerial::SerialStream teensy; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 33eff6dfb..d4fb892fa 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -40,6 +40,35 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { for (int i = 0; i < num_joints_; i++) { encStepsPerDeg[i] = reductions[i] * ppr * 5.12 / 360.0; } + + float feed_freq = 5.131; // not exactly 5 to ensure that this doesn't regularly interfere with HW interface callback + ros::Duration feedbackFreq = ros::Duration(1.0/feed_freq); + feedbackLoop = nh.createTimer(feedbackFreq, &ArmHardwareDriver::teensyFeedback, this); + +} + +//Timer initiated event to request joint feedback +void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) +{ + requestEEFeedback(); + if(mode == jointMode) + { + requestJPFeedback(); + } +} + +void ArmHardwareDriver::requestEEFeedback() +{ + std::string outMsg = "FBE\n"; + sendMsg(outMsg); + recieveMsg(); +} + +void ArmHardwareDriver::requestJPFeedback(); +{ + std::string outMsg = "FBJ\n"; + sendMsg(outMsg); + recieveMsg(); } // Callback function to relay pro controller messages to teensy MCU on arm via @@ -50,7 +79,7 @@ const std_msgs::String::ConstPtr& inMsg) { } void ArmHardwareDriver::parseInput(std::string inMsg) { - char mode = inMsg[0]; + mode = inMsg[0]; if (mode == jointMode) { joint_space_motion(inMsg); @@ -187,14 +216,7 @@ void ArmHardwareDriver::endEffector(const char dir) { std::string outMsg = "EE"; outMsg += dir; outMsg += "\n"; - if(serialOpen) - { - serialOpen = false; sendMsg(outMsg); - // sending command to end effector results in force feedback being requested - recieveMsg(); - serialOpen = true; - } } void ArmHardwareDriver::endEffectorRel() { @@ -250,12 +272,8 @@ const sb_msgs::ArmPosition::ConstPtr& commanded_msg) { outMsg += std::to_string(encCmd[i]); } outMsg += "\n"; - if(serialOpen) - { - serialOpen = false; - sendMsg(outMsg); - recieveMsg(); - serialOpen = true; + sendMsg(outMsg); + recieveMsg(); } } @@ -296,28 +314,37 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port - - teensy << outMsg; + if(serialOpen) + { + // close serial port to other processes + serialOpen = false; + teensy << outMsg; + } //ROS_INFO("Sent via serial: %s", outMsg.c_str()); } void ArmHardwareDriver::recieveMsg() { // fill inMsg string with whatever comes through serial port until \n - std::stringstream buffer; - char next_char; - do { - teensy >> next_char; - buffer << next_char; - } while (next_char != 'Z'); - std::string inMsg = buffer.str(); - if (inMsg[0] != 'Z') + if(dataInTransit) { + std::stringstream buffer; + char next_char; + do { + teensy >> next_char; + buffer << next_char; + } while (next_char != 'Z'); + std::string inMsg = buffer.str(); + if (inMsg.substr(0, 2) == "JP") { updateEncoderSteps(inMsg); encStepsToJointPos(encPos, armPos); updateHWInterface(); } else if (inMsg.substr(0, 2) == "EE") ROS_INFO("%s", inMsg.c_str()); + + // open serial port to other processes + serialOpen = true; + dataInTransit = false; } } diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index ca0020e7b..053d0e91c 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -99,7 +99,7 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { // apply offsets, convert from deg to rad for moveit joint_positions_[i] = degToRad(actuator_positions_[i] + joint_offsets_[i]); - // joint_position_commands_[i] = joint_positions_[i]; + joint_position_commands_[i] = joint_positions_[i]; } controller_manager_->update(ros::Time::now(), elapsed_time_); } else { diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 7fc931546..507b42069 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -256,6 +256,11 @@ void parseMessage(String inMsg) drillCommands(inMsg); } + else if(function == "FB") + { + sendFeedback(inMsg); + } + else if(function == "HM") { homeArm(); @@ -268,6 +273,20 @@ void sendMessage(char outChar) Serial.print(outMsg); } +void sendFeedback(String inMsg) +{ + if(inMsg[2] == "E") + { + sendEEForce(); + } + + else if(inMsg[2] == "J") + { + readEncPos(curEncSteps); + sendCurrentPosition(); + } +} + //****//CARTESIAN MODE FUNCTIONS//****// void cartesianCommands(String inMsg) @@ -276,7 +295,7 @@ void cartesianCommands(String inMsg) readEncPos(curEncSteps); // update host with joint positions - //sendCurrentPosition(); + sendCurrentPosition(); if(!IKFlag) { @@ -344,16 +363,12 @@ void jointCommands(String inMsg) changeAxis(detail1); else if(function == move) jointMovement(detail1, inMsg[4]); - - // update HW interface with joint positions - readEncPos(curEncSteps); - sendPosNonIK(); } void endEffectorCommands(String inMsg) { char data = inMsg[2]; - getForce(); + getEEForce(); //opening code if ((data == open) && (forcePct < 100)) { //check if open button pressed and if force is less than max @@ -368,12 +383,9 @@ void endEffectorCommands(String inMsg) else if ((data == release) || (forcePct >= 100)) { //else check if release button pressed endEff.stop(); // stop when above condition reached } - - // need to only send force if a certain time interval defined by timeVal has passed - sendForce(force); } -void getForce() +void getEEForce() { if(scale.wait_ready_timeout(1)) { @@ -382,34 +394,12 @@ void getForce() } } -void sendForce(int forcePercent) -{ - long currentTime = millis(); //checks total runtime - long timeDiff = currentTimeEE - previousTimeEE; //finds interval between runtime and previous checked time - if (timeDiff >= timeIntervalEE) - { - String force_value = String(forcePercent); - String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %Z"); - Serial.print(force_message); - previousTimeEE = currentTimeEE; - } - - else - sendMessage('Z'); -} - -void sendPosNonIK() +void sendEEForce() { - currentTime = millis(); //checks total runtime - long timeDiff = currentTime - previousTimeJP; //finds interval between runtime and previous checked time - if (timeDiff >= timeIntervalJP) - { - sendCurrentPosition(); - previousTimeJP = currentTimeJP; - } - - else - sendMessage('Z'); + String force_value = String(forcePct); + String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %Z"); + Serial.print(force_message); + previousTimeEE = currentTimeEE; } void drillCommands(String inMsg) From 96ea9696a2ac7fc04bdf6514ebbb4f36808f79dd Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 14:26:52 -0700 Subject: [PATCH 071/124] updated joint limits to reflect actual arm --- .../config/joint_limits.yaml | 44 +++++++++---------- .../src/armFirmware/armFirmware.ino | 2 +- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml index cf75a8a7f..ca66e7f8f 100755 --- a/src/snowbots_arm_simplified_configs/config/joint_limits.yaml +++ b/src/snowbots_arm_simplified_configs/config/joint_limits.yaml @@ -4,49 +4,49 @@ joint_limits: j1: has_position_limits: true - max_position: 1.57 - min_position: -1.57 + max_position: 3.1415 + min_position: -3.1415 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 j2: has_position_limits: true - max_position: 1.57 - min_position: -1.57 + max_position: 2.04 + min_position: -0.75049 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 j3: has_position_limits: true - max_position: 1.57 - min_position: -1.57 + max_position: 1.48 + min_position: -0.6108 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 j4: has_position_limits: true max_position: 1.57 min_position: -1.57 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 j5: has_position_limits: true - max_position: 1.57 - min_position: -1.57 + max_position: 1.74 + min_position: -1.396 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 j6: has_position_limits: true - max_position: 1.57 - min_position: -1.57 + max_position: 1.484 + min_position: -1.134 has_velocity_limits: true - max_velocity: 0.1 + max_velocity: 0.2 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.3 diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 507b42069..489ba1c44 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -141,7 +141,7 @@ long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; // Range of motion (degrees) for each axis -int maxAngles[6] = {190, 160, 180, 120, 100, 180}; +int maxAngles[6] = {190, 160, 180, 120, 150, 180}; long max_steps[] = {axisDir[0]*red[0]*maxAngles[0]/360.0*ppr[0], axisDir[1]*red[1]*maxAngles[1]/360.0*ppr[1], axisDir[2]*red[2]*maxAngles[2]/360.0*ppr[2], axisDir[3]*red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; long min_steps[NUM_AXES]; char value; From 078b11a96e17d67135ba4a042fde76e0bf5edd6c Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 15:03:59 -0700 Subject: [PATCH 072/124] added functions to header file and updated HW interface for tolerance checking --- src/arm_hardware_driver/include/armHardwareDriver.h | 3 +++ .../src/armHardwareInterface.cpp | 11 ++++++++++- src/teensy-firmware/src/armFirmware/armFirmware.ino | 8 ++++---- 3 files changed, 17 insertions(+), 5 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 55f86ef1c..dafa47b70 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -58,6 +58,8 @@ class ArmHardwareDriver { void recieveMsg(); void requestArmPosition(); void updateHWInterface(); + void requestEEFeedback(); + void requestJPFeedback(); // character representations of buttons for arm communication const char leftJSL = 'A'; @@ -123,6 +125,7 @@ class ArmHardwareDriver { private: ros::NodeHandle nh; void armPositionCallBack(const sb_msgs::ArmPosition::ConstPtr& cmd_msg); + void teensyFeedback(const ros::TimerEvent& e); ros::Subscriber subPro; ros::Subscriber sub_command_pos; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 053d0e91c..7994b5d48 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -95,6 +95,7 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { observed_msg->positions.end()); if (!cartesian_mode) { + elapsed_time_ = ros::Duration(e.current_real - e.last_real); for (int i = 0; i < num_joints_; ++i) { // apply offsets, convert from deg to rad for moveit joint_positions_[i] = @@ -111,12 +112,20 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { void ArmHardwareInterface::cmdArmPosition(const ros::TimerEvent& e) { if (cartesian_mode) { ROS_INFO("-I- Timer Initiated Position Exchange"); + + for(int i=0; iupdate(ros::Time::now(), elapsed_time_); } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 489ba1c44..472656ee5 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -562,19 +562,19 @@ void cmdArmWrist() diffEncStepsA5 = cmdEncSteps[4] - curEncSteps[4]; diffEncStepsA6 = cmdEncSteps[5] - curEncSteps[5]; - if(abs(diffEncStepsA5) > 2) + if(abs(diffEncStepsA5) > 10) { diffMotStepsA5 = diffEncStepsA5 / ENC_MULT[4]; - if(diffMotStepsA5 < ppr[i]) + if(diffMotStepsA5 < ppr[4]) { diffMotStepsA5 = diffEncStepsA5 / 2; } } - if(abs(diffEncStepsA6) > 2) + if(abs(diffEncStepsA6) > 10) { diffMotStepsA6 = diffEncStepsA6 / ENC_MULT[5]; - if(diffMotStepsA6 < ppr[i]) + if(diffMotStepsA6 < ppr[5]) { diffMotStepsA6 = diffEncStepsA6 / 2; } From 90b67fc4cd35375a6c72fd72014774cf849f1188 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 8 Aug 2022 15:54:41 -0700 Subject: [PATCH 073/124] ensured that homing blocks serial comm from callbacks/joy controller --- .../include/armHardwareDriver.h | 1 + .../src/armHardwareDriver.cpp | 17 +++++++++++++++-- .../src/armFirmware/armFirmware.ino | 4 ++++ 3 files changed, 20 insertions(+), 2 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index dafa47b70..eb9cbc306 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -111,6 +111,7 @@ class ArmHardwareDriver { bool serialOpen = true; bool dataInTransit = false; + bool homeFlag = false; char mode = jointMode; // hardware interface communication variables diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d4fb892fa..045fdf5c4 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -255,6 +255,7 @@ void ArmHardwareDriver::releaseDrill() { void ArmHardwareDriver::homeArm() { std::string outMsg = "HM\n"; + homeFlag = true; sendMsg(outMsg); recieveMsg(); } @@ -318,6 +319,7 @@ void ArmHardwareDriver::sendMsg(std::string outMsg) { { // close serial port to other processes serialOpen = false; + dataInTransit = true; teensy << outMsg; } //ROS_INFO("Sent via serial: %s", outMsg.c_str()); @@ -335,16 +337,27 @@ void ArmHardwareDriver::recieveMsg() { } while (next_char != 'Z'); std::string inMsg = buffer.str(); + // check if joint state is available if (inMsg.substr(0, 2) == "JP") { updateEncoderSteps(inMsg); encStepsToJointPos(encPos, armPos); updateHWInterface(); + // check if end effector force feedback is available } else if (inMsg.substr(0, 2) == "EE") ROS_INFO("%s", inMsg.c_str()); + // check if homing is completed + else if(inMsg.substr(0, 2) == "HC") + { + homeFlag = false; + ROS_INFO("ARM CALIBRATION COMPLETE, NOW ACCEPTING CONTROLLER COMMANDS!"); + } // open serial port to other processes - serialOpen = true; - dataInTransit = false; + if(!homeFlag) + { + serialOpen = true; + dataInTransit = false; + } } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 472656ee5..934050c05 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -754,10 +754,14 @@ void homeArm() { // main function for full arm homing steppersIK[i].setCurrentPosition(0); } + // clear serial port in case of garbage values while(Serial.available() !=0) { Serial.read(); } + + // notify hardware driver that homing has completed + Serial.print("HCZ"); } void homeBase() { // homes axes 1-4 From 0ae6f33c333ca930fca01d8aae8f64b28cd0b06d Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 8 Aug 2022 18:06:33 -0700 Subject: [PATCH 074/124] Resolve compilation errors --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 3 +-- src/arm_hardware_interface/src/armHardwareInterface.cpp | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 045fdf5c4..d91851e2a 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -64,7 +64,7 @@ void ArmHardwareDriver::requestEEFeedback() recieveMsg(); } -void ArmHardwareDriver::requestJPFeedback(); +void ArmHardwareDriver::requestJPFeedback() { std::string outMsg = "FBJ\n"; sendMsg(outMsg); @@ -275,7 +275,6 @@ const sb_msgs::ArmPosition::ConstPtr& commanded_msg) { outMsg += "\n"; sendMsg(outMsg); recieveMsg(); - } } void ArmHardwareDriver::updateEncoderSteps(std::string msg) { diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index 7994b5d48..b61208705 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -95,7 +95,7 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { observed_msg->positions.end()); if (!cartesian_mode) { - elapsed_time_ = ros::Duration(e.current_real - e.last_real); + // elapsed_time_ = ros::Duration(e.current_real - e.last_real); for (int i = 0; i < num_joints_; ++i) { // apply offsets, convert from deg to rad for moveit joint_positions_[i] = From 3bb62b3cce4e58495c93dc4835b4e613784662ed Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 8 Aug 2022 18:31:00 -0700 Subject: [PATCH 075/124] Fix timing logic for joint space mode --- src/arm_hardware_interface/include/armHardwareInterface.h | 1 + src/arm_hardware_interface/src/armHardwareInterface.cpp | 7 +++++-- src/sb_msgs/CMakeLists.txt | 1 - src/sb_msgs/msg/ArmPosition.msg | 1 + 4 files changed, 7 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_interface/include/armHardwareInterface.h b/src/arm_hardware_interface/include/armHardwareInterface.h index 32bebf57a..cdef2dd8d 100644 --- a/src/arm_hardware_interface/include/armHardwareInterface.h +++ b/src/arm_hardware_interface/include/armHardwareInterface.h @@ -35,6 +35,7 @@ using namespace hardware_interface; ros::Timer non_realtime_loop_; ros::Duration control_period_; ros::Duration elapsed_time_; + ros::Time previous_time_; double loop_hz_; boost::shared_ptr controller_manager_; diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index b61208705..f15983514 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -82,8 +82,10 @@ const std_msgs::Bool::ConstPtr& inMsg) { cartesian_mode = inMsg->data; if (cartesian_mode) ROS_INFO("Enabling Cartesian Mode"); - else + else { ROS_INFO("Disabling Cartesian Mode"); + previous_time_ = ros::Time::now(); + } } void ArmHardwareInterface::armPositionCallBack( @@ -95,7 +97,8 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { observed_msg->positions.end()); if (!cartesian_mode) { - // elapsed_time_ = ros::Duration(e.current_real - e.last_real); + elapsed_time_ = ros::Duration(observed_msg->header.stamp - previous_time_); + previous_time_ = observed_msg->header.stamp; for (int i = 0; i < num_joints_; ++i) { // apply offsets, convert from deg to rad for moveit joint_positions_[i] = diff --git a/src/sb_msgs/CMakeLists.txt b/src/sb_msgs/CMakeLists.txt index 54ee642e8..fdd4b0e41 100644 --- a/src/sb_msgs/CMakeLists.txt +++ b/src/sb_msgs/CMakeLists.txt @@ -31,4 +31,3 @@ generate_messages( catkin_package( CATKIN_DEPENDS message_runtime std_msgs ) - diff --git a/src/sb_msgs/msg/ArmPosition.msg b/src/sb_msgs/msg/ArmPosition.msg index 6f9d3f7bb..546579355 100644 --- a/src/sb_msgs/msg/ArmPosition.msg +++ b/src/sb_msgs/msg/ArmPosition.msg @@ -1 +1,2 @@ +std_msgs/Header header float64[] positions From c93606d7f78cd1ba0889df6a708cfdf650b00a51 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 8 Aug 2022 10:32:40 -0700 Subject: [PATCH 076/124] wrist axes inversion --- .../src/armFirmware/armFirmware.ino | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 934050c05..39f5b450a 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -152,8 +152,8 @@ int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 105 int speedIndex = maxSpeedIndex; // Cartesian mode speed settings -float IKspeeds[] = {0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; -float IKaccs[] = {0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; +float IKspeeds[] = {0.3, 0.3, 0.3, 0.3, 0.3, 0.3}; +float IKaccs[] = {0.2, 0.2, 0.2, 0.2, 0.2, 0.2}; void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -198,7 +198,8 @@ void setup() { // setup function to initialize pins and provide initial homing t } // waits for user to press "home" button before rest of functions are available - waitForHome(); + //waitForHome(); + zeroEncoders(); } void loop() @@ -210,6 +211,10 @@ void loop() else runSteppersIK(); + + readEncPos(curEncSteps); + sendPosNonIK(); + Serial.print('\n'); } void recieveCommand() @@ -533,6 +538,8 @@ void zeroEncoders() enc4.write(0); enc5.write(0); enc6.write(0); + + readEncPos(curEncSteps); } void cmdArmBase() @@ -540,7 +547,7 @@ void cmdArmBase() for (int i = 0; i < NUM_AXES_EX_WRIST; i++) { int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; - if (abs(diffEncSteps) > 2) + if (abs(diffEncSteps) > 6) { int diffMotSteps = diffEncSteps / ENC_MULT[i]; if (diffMotSteps < ppr[i]) @@ -748,6 +755,7 @@ void homeArm() { // main function for full arm homing homeBase(); initializeMotion(); zeroEncoders(); + sendCurrentPosition(); for(int i=0; i Date: Mon, 8 Aug 2022 20:01:50 -0700 Subject: [PATCH 077/124] testing --- .../src/armFirmware/armFirmware.ino | 23 ++++++------------- 1 file changed, 7 insertions(+), 16 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 39f5b450a..329e53438 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -33,8 +33,6 @@ static const char wrist = 'W'; static const char garbage = 'G'; static const char faster = 'U'; static const char slower = 'D'; -static const char open = left; -static const char close = right; static const char prepare = 'P'; static const char collect = 'C'; static const char deposit = 'D'; @@ -52,7 +50,6 @@ int encPinA[6] = {17, 38, 40, 36, 15, 13}; int encPinB[6] = {16, 37, 39, 35, 14, 41}; // end effector variables -const int maxForce = 30; // needs to be checked const float calibrationFactor = -111.25; float force; HX711 scale; @@ -152,8 +149,8 @@ int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 105 int speedIndex = maxSpeedIndex; // Cartesian mode speed settings -float IKspeeds[] = {0.3, 0.3, 0.3, 0.3, 0.3, 0.3}; -float IKaccs[] = {0.2, 0.2, 0.2, 0.2, 0.2, 0.2}; +float IKspeeds[] = {0.2, 0.2, 0.2, 0.2, 0.2, 0.2}; +float IKaccs[] = {0.3, 0.3, 0.3, 0.3, 0.3, 0.3}; void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -198,8 +195,7 @@ void setup() { // setup function to initialize pins and provide initial homing t } // waits for user to press "home" button before rest of functions are available - //waitForHome(); - zeroEncoders(); + waitForHome(); } void loop() @@ -211,10 +207,6 @@ void loop() else runSteppersIK(); - - readEncPos(curEncSteps); - sendPosNonIK(); - Serial.print('\n'); } void recieveCommand() @@ -373,7 +365,7 @@ void jointCommands(String inMsg) void endEffectorCommands(String inMsg) { char data = inMsg[2]; - getEEForce(); + //getEEForce(); //opening code if ((data == open) && (forcePct < 100)) { //check if open button pressed and if force is less than max @@ -404,7 +396,6 @@ void sendEEForce() String force_value = String(forcePct); String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %Z"); Serial.print(force_message); - previousTimeEE = currentTimeEE; } void drillCommands(String inMsg) @@ -749,7 +740,7 @@ void zeroRunFlags() { // when user changes axis to control on switch, slow curre void homeArm() { // main function for full arm homing initializeWristHomingMotion(); - homeEE(); + //homeEE(); homeWrist(); initializeHomingMotion(); homeBase(); @@ -889,7 +880,7 @@ void homeEE() EEforce=scale.get_units()/1000*9.81; // target position for end effector in closed direction - endEff.move(-99000*dir); + endEff.move(-99000*MOTOR_DIR_EE); while(abs(EEforce) < calForce) { @@ -901,7 +892,7 @@ void homeEE() } endEff.setCurrentPosition(-30); - endEff.moveTo(openPos*dir); + endEff.moveTo(openPos*MOTOR_DIR_EE); while(endEff.distanceToGo() != 0) { endEff.run(); From da1a73b13ab7207c46c6324fa4679274dd7b3a23 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 8 Aug 2022 20:06:59 -0700 Subject: [PATCH 078/124] evening-fix --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d91851e2a..e0b0f865f 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -182,8 +182,6 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { outMsg += dir; outMsg += "\n"; sendMsg(outMsg); - // request current joint positions from teensy - recieveMsg(); } void ArmHardwareDriver::changeSpeed(const char dir) { From b1b14bf9065b3df18751212e48ecf3fa1bb5eba9 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 8 Aug 2022 20:24:11 -0700 Subject: [PATCH 079/124] removed send current position after homing --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 5 ++++- src/teensy-firmware/src/armFirmware/armFirmware.ino | 3 +-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index e0b0f865f..3c128a354 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -50,6 +50,8 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { //Timer initiated event to request joint feedback void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) { + + ROS_INFO("timer working"); requestEEFeedback(); if(mode == jointMode) { @@ -353,7 +355,8 @@ void ArmHardwareDriver::recieveMsg() { if(!homeFlag) { serialOpen = true; - dataInTransit = false; + dataInTransit = false; + ROS_INFO("Ready to send"); } } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 329e53438..1a4a5a561 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -394,7 +394,7 @@ void getEEForce() void sendEEForce() { String force_value = String(forcePct); - String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" %Z"); + String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" Z"); Serial.print(force_message); } @@ -746,7 +746,6 @@ void homeArm() { // main function for full arm homing homeBase(); initializeMotion(); zeroEncoders(); - sendCurrentPosition(); for(int i=0; i Date: Mon, 8 Aug 2022 22:35:46 -0700 Subject: [PATCH 080/124] fixes for HW interface and firmware --- .../src/armHardwareDriver.cpp | 22 ++-- .../src/armFirmware/armFirmware.ino | 118 +++++++++++------- 2 files changed, 86 insertions(+), 54 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 3c128a354..1d398d984 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -52,10 +52,13 @@ void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) { ROS_INFO("timer working"); - requestEEFeedback(); - if(mode == jointMode) + if(homeFlag) { - requestJPFeedback(); + requestEEFeedback(); + if(mode == jointMode) + { + requestJPFeedback(); + } } } @@ -321,7 +324,7 @@ void ArmHardwareDriver::sendMsg(std::string outMsg) { dataInTransit = true; teensy << outMsg; } - //ROS_INFO("Sent via serial: %s", outMsg.c_str()); + ROS_INFO("Sent via serial: %s", outMsg.c_str()); } void ArmHardwareDriver::recieveMsg() { @@ -347,17 +350,12 @@ void ArmHardwareDriver::recieveMsg() { // check if homing is completed else if(inMsg.substr(0, 2) == "HC") { - homeFlag = false; ROS_INFO("ARM CALIBRATION COMPLETE, NOW ACCEPTING CONTROLLER COMMANDS!"); } - // open serial port to other processes - if(!homeFlag) - { - serialOpen = true; - dataInTransit = false; - ROS_INFO("Ready to send"); - } + serialOpen = true; + dataInTransit = false; + ROS_INFO("Ready to send"); } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 1a4a5a561..0cdf21283 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -40,6 +40,8 @@ static const char manual = 'M'; static const char drillRelease = 'X'; static const char open = 'O'; static const char close = 'C'; +static const char joint = 'J'; +static const char EEval = 'E'; // Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; @@ -53,17 +55,19 @@ int encPinB[6] = {16, 37, 39, 35, 14, 41}; const float calibrationFactor = -111.25; float force; HX711 scale; +const int dataPin = 34; +const int clkPin = 33; int calPos = 0; int closePos = 0; -int openPos = 2000; // needs to be calibrated -int EEstepPin = 20; -int EEdirPin = 21; +int openPos = 500; // needs to be calibrated +int EEstepPin = 4; +int EEdirPin = 3; int speedEE = 100; int accEE = 500; const int MOTOR_DIR_EE = 1; const int openButton = 5; const int closeButton = 4; -const float calForce = 0.3; +const float calForce = 0.2; const float maxForce = 10.0; float EEforce; int forcePct = 0; @@ -155,6 +159,9 @@ float IKaccs[] = {0.3, 0.3, 0.3, 0.3, 0.3, 0.3}; void setup() { // setup function to initialize pins and provide initial homing to the arm Serial.begin(9600); + scale.begin(dataPin, clkPin); + scale.set_scale(calibrationFactor); + scale.tare(); for(int i=0; i 0) +// { +// recieved = Serial.read(); +// inData += String(recieved); +// if(recieved == '\n') +// { +// serialFlag = true; +// } +// } +// +// if(serialFlag) +// { +// if(inData.substring(0, 2) = "HM") +// { +// homeArm(); +// initFlag = true; +// } +// +// else +// { +// inData = ""; +// serialFlag = false; +// } +// } +// } +//} + +void waitForHome() +{ + String inData; + char recieved = '\0'; - if(Serial.available() > 0) + while(!initFlag) + { + inData = ""; + if(Serial.available()>0) { - recieved = Serial.read(); - inData += String(recieved); - if(recieved == '\n') - { - serialFlag = true; - } + do { + recieved = Serial.read(); + inData += String(recieved); + } while(recieved != '\n'); } - - if(serialFlag) + + if(recieved == '\n') { - if(inData.substring(0, 2) = "HM") - { - homeArm(); - initFlag = true; - } - - else - { - inData = ""; - serialFlag = false; - } + if(inData.substring(0, 2) == "HM") + homeArm(); + initFlag = true; } } } From bed796221db41392fdffefb40e2d334bf3d403d0 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Tue, 9 Aug 2022 12:08:49 -0700 Subject: [PATCH 081/124] tuesday morning fixes --- .../src/armHardwareDriver.cpp | 96 ++++++++++--------- .../src/armFirmware/armFirmware.ino | 6 +- 2 files changed, 56 insertions(+), 46 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 1d398d984..701293a8a 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -99,50 +99,56 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { void ArmHardwareDriver::joint_space_motion(std::string inMsg) { char action = inMsg[1]; - if (action == leftJSL) { - jointSpaceMove(left, left); - } else if (action == leftJSR) { - jointSpaceMove(left, right); - } else if (action == rightJSU) { - jointSpaceMove(right, up); - } else if (action == rightJSD) { - jointSpaceMove(right, down); - } else if (action == buttonA) { - jointSpaceMove(wrist, up); - } else if (action == buttonB) { - jointSpaceMove(wrist, left); - } else if (action == buttonX) { - jointSpaceMove(wrist, right); - } else if (action == buttonY) { - jointSpaceMove(wrist, down); - } else if (action == triggerL) { - changeAxis(down); - } else if (action == triggerR) { - changeAxis(up); - } else if (action == leftJSRel) { - releaseAxis(left, garbage); - } else if (action == rightJSRel) { - releaseAxis(right, garbage); - } else if (action == buttonARel) { - releaseAxis(wrist, up); - } else if (action == buttonBRel) { - releaseAxis(wrist, left); - } else if (action == buttonXRel) { - releaseAxis(wrist, right); - } else if (action == buttonYRel) { - releaseAxis(wrist, down); - } else if (action == arrowU) { - changeSpeed(up); - } else if (action == arrowD) { - changeSpeed(down); - } else if (action == arrowL) { - endEffector(open); - } else if (action == arrowR) { - endEffector(close); - } else if (action == arrowRLRel) { - endEffectorRel(); - } else if (action == homeVal) { + if(action == homeVal) + { homeArm(); + } + + else if (homeFlag) + { + if(action == leftJSL) { + jointSpaceMove(left, left); + } else if (action == leftJSR) { + jointSpaceMove(left, right); + } else if (action == rightJSU) { + jointSpaceMove(right, up); + } else if (action == rightJSD) { + jointSpaceMove(right, down); + } else if (action == buttonA) { + jointSpaceMove(wrist, up); + } else if (action == buttonB) { + jointSpaceMove(wrist, left); + } else if (action == buttonX) { + jointSpaceMove(wrist, right); + } else if (action == buttonY) { + jointSpaceMove(wrist, down); + } else if (action == triggerL) { + changeAxis(down); + } else if (action == triggerR) { + changeAxis(up); + } else if (action == leftJSRel) { + releaseAxis(left, garbage); + } else if (action == rightJSRel) { + releaseAxis(right, garbage); + } else if (action == buttonARel) { + releaseAxis(wrist, up); + } else if (action == buttonBRel) { + releaseAxis(wrist, left); + } else if (action == buttonXRel) { + releaseAxis(wrist, right); + } else if (action == buttonYRel) { + releaseAxis(wrist, down); + } else if (action == arrowU) { + changeSpeed(up); + } else if (action == arrowD) { + changeSpeed(down); + } else if (action == arrowL) { + endEffector(open); + } else if (action == arrowR) { + endEffector(close); + } else if (action == arrowRLRel) { + endEffectorRel(); + } } } @@ -258,9 +264,10 @@ void ArmHardwareDriver::releaseDrill() { void ArmHardwareDriver::homeArm() { std::string outMsg = "HM\n"; - homeFlag = true; + homeFlag = false; sendMsg(outMsg); recieveMsg(); + homeFlag = true; } void ArmHardwareDriver::armPositionCallBack( @@ -355,7 +362,6 @@ void ArmHardwareDriver::recieveMsg() { // open serial port to other processes serialOpen = true; dataInTransit = false; - ROS_INFO("Ready to send"); } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 0cdf21283..cd58e890e 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -406,7 +406,7 @@ void sendEEForce() { //String force_value = String(forcePct); //String force_message = String("EE: Gripper Force: ") + String(force_value) + String(" Z"); - String force_message = String("EEZ"); + String force_message = String("EEForceZ"); Serial.print(force_message); } @@ -1032,3 +1032,7 @@ void waitForHome() } } } + +// updated 12:08 on tuesday + + From 70c339a4fcdb47fbf3bfc96e9a4015b695a442cc Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 9 Aug 2022 17:24:03 -0700 Subject: [PATCH 082/124] Remove checks for serial flags --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 9 ++++++++- .../launch/arm_hardware_bringup.launch | 2 -- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 701293a8a..03dd2f622 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -324,24 +324,29 @@ void ArmHardwareDriver::jointPosToEncSteps(std::vector& joint_positions, void ArmHardwareDriver::sendMsg(std::string outMsg) { // Send everything in outMsg through serial port + /* if(serialOpen) { + */ // close serial port to other processes serialOpen = false; dataInTransit = true; teensy << outMsg; - } + // } ROS_INFO("Sent via serial: %s", outMsg.c_str()); } void ArmHardwareDriver::recieveMsg() { // fill inMsg string with whatever comes through serial port until \n + /* if(dataInTransit) { + */ std::stringstream buffer; char next_char; do { teensy >> next_char; + ROS_INFO("next_char: %c", next_char); buffer << next_char; } while (next_char != 'Z'); std::string inMsg = buffer.str(); @@ -362,7 +367,9 @@ void ArmHardwareDriver::recieveMsg() { // open serial port to other processes serialOpen = true; dataInTransit = false; + /* } + */ } void ArmHardwareDriver::updateHWInterface() { diff --git a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch index 52ac02bd9..b46f2d3b6 100644 --- a/src/arm_hardware_interface/launch/arm_hardware_bringup.launch +++ b/src/arm_hardware_interface/launch/arm_hardware_bringup.launch @@ -25,9 +25,7 @@ - From 9627af7ca4a493244d33d0f22e56db1915d669cd Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 9 Aug 2022 17:24:50 -0700 Subject: [PATCH 083/124] teensy-firmware-updated --- .../src/armFirmware/armFirmware.ino | 28 +++++++++++++++---- 1 file changed, 23 insertions(+), 5 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index cd58e890e..f18453828 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -67,7 +67,7 @@ int accEE = 500; const int MOTOR_DIR_EE = 1; const int openButton = 5; const int closeButton = 4; -const float calForce = 0.2; +const float calForce = 0.3; const float maxForce = 10.0; float EEforce; int forcePct = 0; @@ -133,6 +133,7 @@ int i; bool initFlag = false; bool jointFlag = true; bool IKFlag = false; +bool J1Flag = false; // variables for homing / arm calibration long homePosConst = -99000; @@ -203,7 +204,6 @@ void setup() { // setup function to initialize pins and provide initial homing t steppers[i].setMinPulseWidth(200); } // waits for user to press "home" button before rest of functions are available - waitForHome(); } @@ -758,6 +758,7 @@ void homeArm() { // main function for full arm homing homeBase(); initializeMotion(); zeroEncoders(); + J1Flag = true; for(int i=0; i (homeCompSteps[0] + homeComp[0])/axisDir[0])) + { + steppers[0].move(-homePos[i]); + } + else + { + steppers[0].move(homePos[i]); + } + } + else + { + steppers[0].move(homePos[i]); + } } } @@ -1034,5 +1054,3 @@ void waitForHome() } // updated 12:08 on tuesday - - From d3b05cd7d0594bd9d4670e0dd8e25b19cb0b01cb Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 9 Aug 2022 17:40:57 -0700 Subject: [PATCH 084/124] added end effector homing button for cartesian/JP modes --- .../include/armHardwareDriver.h | 2 ++ .../src/armHardwareDriver.cpp | 31 ++++++++++++------- .../include/ProController.h | 1 + .../src/ProController.cpp | 1 + .../src/armFirmware/armFirmware.ino | 1 - 5 files changed, 24 insertions(+), 12 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index eb9cbc306..0168a1cc7 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -60,6 +60,7 @@ class ArmHardwareDriver { void updateHWInterface(); void requestEEFeedback(); void requestJPFeedback(); + void homeEE(); // character representations of buttons for arm communication const char leftJSL = 'A'; @@ -90,6 +91,7 @@ class ArmHardwareDriver { const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; const char homeVal = '4'; + const char homeValEE = '6'; // arm modes const char jointMode = '1'; const char IKMode = '2'; diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 03dd2f622..ce9c7d203 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -54,7 +54,7 @@ void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) ROS_INFO("timer working"); if(homeFlag) { - requestEEFeedback(); + //requestEEFeedback(); if(mode == jointMode) { requestJPFeedback(); @@ -148,19 +148,23 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { endEffector(close); } else if (action == arrowRLRel) { endEffectorRel(); - } + } else if(action == homeValEE) { + homeEE(); + } } } void ArmHardwareDriver::cartesian_motion(std::string inMsg) { char action = inMsg[1]; - if (arrowL) { + if (action == arrowL) { endEffector(open); - } else if (arrowRLRel) { + } else if (action == arrowRLRel) { endEffector(close); - } else if (arrowRLRel) { + } else if (action == rrowRLRel) { endEffectorRel(); + } else if(action == homeValEE) { + homeEE(); } } @@ -168,17 +172,17 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); - if (buttonARel) { + if (action == buttonARel) { prepareDrilling(); - } else if (buttonBRel) { + } else if (action == buttonBRel) { collectSample(); - } else if (buttonX) { + } else if (action == buttonX) { depositSample(); - } else if (triggerL) { + } else if (action == triggerL) { manualDrill(left); - } else if (triggerR) { + } else if (action == triggerR) { manualDrill(right); - } else if (triggerLRel || triggerRRel) { + } else if ((action == triggerLRel) || (action == triggerRRel)) { releaseDrill(); } // below two lines to be implemented once cartesian mode is sorted @@ -270,6 +274,11 @@ void ArmHardwareDriver::homeArm() { homeFlag = true; } +void ArmHardwareDriver::homeEE() { + std::string outMsg = "EEH\n"; + sendMsg(outMsg); +} + void ArmHardwareDriver::armPositionCallBack( const sb_msgs::ArmPosition::ConstPtr& commanded_msg) { // TODO: ihsan fill std::vector type with sb_msgs values diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 7d371b7d7..0666f20d5 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -86,6 +86,7 @@ class ProController { const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; const char homeVal = '4'; + const char homeValEE = '6'; // arm modes const char jointMode = '1'; const char IKMode = '2'; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 2ba95cb6c..6f1a0c979 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -344,6 +344,7 @@ void ProController::select(int value) { ROS_INFO("Select button pressed"); } else if (value == 0) { ROS_INFO("Select button released"); + armOutVal = homeValEE; } } diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index f18453828..94d147fb0 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -752,7 +752,6 @@ void zeroRunFlags() { // when user changes axis to control on switch, slow curre void homeArm() { // main function for full arm homing initializeWristHomingMotion(); - homeEE(); homeWrist(); initializeHomingMotion(); homeBase(); From 072ec5052c25c18272837e28abf609b136f18cf9 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 9 Aug 2022 19:41:05 -0700 Subject: [PATCH 085/124] evening commit 2 --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 4 ++-- .../src/armFirmware/armFirmware.ino | 15 ++++++++++----- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index ce9c7d203..3ac107109 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -159,9 +159,9 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { if (action == arrowL) { endEffector(open); - } else if (action == arrowRLRel) { + } else if (action == arrowR) { endEffector(close); - } else if (action == rrowRLRel) { + } else if (action == arrowRLRel) { endEffectorRel(); } else if(action == homeValEE) { homeEE(); diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 94d147fb0..28f3619b6 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -42,6 +42,7 @@ static const char open = 'O'; static const char close = 'C'; static const char joint = 'J'; static const char EEval = 'E'; +static const char homeValEE = 'H'; // Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; @@ -150,7 +151,7 @@ char value; // values for changing speed const int maxSpeedIndex = 2; -int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; +int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {900, 1600, 2500, 2200, 2000, 2000, 2000, 2000}}; int speedIndex = maxSpeedIndex; // Cartesian mode speed settings @@ -376,21 +377,25 @@ void jointCommands(String inMsg) void endEffectorCommands(String inMsg) { char data = inMsg[2]; - getEEForce(); //opening code - if ((data == open) && (forcePct < 100)) { //check if open button pressed and if force is less than max + if (data == open) { //check if open button pressed and if force is less than max endEff.moveTo(openPos*MOTOR_DIR_EE); //continue to move to open position } //closing code - else if ((data == close) && (forcePct < 100)) { //check if open button pressed and if force is less than max + else if (data == close) { //check if open button pressed and if force is less than max endEff.moveTo(closePos*MOTOR_DIR_EE); //continue to move to closed position } - else if ((data == release) || (forcePct >= 100)) { //else check if release button pressed + else if (data == release) { //else check if release button pressed endEff.stop(); // stop when above condition reached } + + else if (data == homeValEE) + { + endEff.setCurrentPosition(0); + } } void getEEForce() From 6779cbbd2fb3acc1b179bff3edf4b873094bcba4 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Tue, 9 Aug 2022 22:51:28 -0700 Subject: [PATCH 086/124] prog1 --- src/move_group_arm/src/moveGroup.cpp | 72 ++++++++++++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 src/move_group_arm/src/moveGroup.cpp diff --git a/src/move_group_arm/src/moveGroup.cpp b/src/move_group_arm/src/moveGroup.cpp new file mode 100644 index 000000000..0e32e9350 --- /dev/null +++ b/src/move_group_arm/src/moveGroup.cpp @@ -0,0 +1,72 @@ +#include +#include + +#include +#include + +#include +#include + +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "ar3_control_demo"); + ros::NodeHandle node_handle; + ros::AsyncSpinner spinner(1); + spinner.start(); + + // BEGIN_TUTORIAL + // + // Setup + // ^^^^^ + // + // MoveIt operates on sets of joints called "planning groups" and stores them in an object called + // the `JointModelGroup`. Throughout MoveIt the terms "planning group" and "joint model group" + // are used interchangably. + static const std::string PLANNING_GROUP = "arm"; + + // The :move_group_interface:`MoveGroupInterface` class can be easily + // setup using just the name of the planning group you would like to control and plan for. + moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); + + // We will use the :planning_scene_interface:`PlanningSceneInterface` + // class to add and remove collision objects in our "virtual world" scene + moveit::planning_interface::PlanningSceneInterface planning_scene_interface; + + // Raw pointers are frequently used to refer to the planning group for improved performance. + const robot_state::JointModelGroup* joint_model_group = + move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP); + + // We can get a list of all the groups in the robot: + ROS_INFO_NAMED("tutorial", "Available Planning Groups:"); + std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(), + std::ostream_iterator(std::cout, ", ")); + +moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); + // + // Next get the current set of joint values for the group. + std::vector joint_group_positions; + current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); + + // Now, let's modify one of the joints, plan to the new joint space goal and visualize the plan. + joint_group_positions[0] = 1.57; // radians + joint_group_positions[1] = 0.785; // radians + joint_group_positions[2] = 1.57; // radians + joint_group_positions[3] = 0.0; // radians + joint_group_positions[4] = -0.785; // radians + joint_group_positions[5] = 0.0; // radians + move_group.setJointValueTarget(joint_group_positions); + + success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + ROS_INFO_NAMED("tutorial", "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED"); + + // Visualize the plan in RViz + visual_tools.deleteAllMarkers(); + visual_tools.publishText(text_pose, "Joint Space Goal", rvt::WHITE, rvt::XLARGE); + visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group->getLinkModel("link_6"), joint_model_group, rvt::LIME_GREEN); + visual_tools.trigger(); + visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to execute joint-space goal"); + + move_group.move(); +} \ No newline at end of file From ecfee27e26fb11d155921156a8e64b83f1baf889 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 10 Aug 2022 00:38:19 -0700 Subject: [PATCH 087/124] added move group interface for joint space mode --- .../src/armHardwareInterface.cpp | 6 +- src/move_group_arm/include/moveGroup.h | 30 +++++ src/move_group_arm/src/moveGroup.cpp | 119 ++++++++++-------- src/move_group_arm/src/move_group.cpp | 21 ++++ 4 files changed, 119 insertions(+), 57 deletions(-) create mode 100644 src/move_group_arm/include/moveGroup.h create mode 100644 src/move_group_arm/src/move_group.cpp diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index f15983514..bab32bd30 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -100,10 +100,8 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { elapsed_time_ = ros::Duration(observed_msg->header.stamp - previous_time_); previous_time_ = observed_msg->header.stamp; for (int i = 0; i < num_joints_; ++i) { - // apply offsets, convert from deg to rad for moveit - joint_positions_[i] = - degToRad(actuator_positions_[i] + joint_offsets_[i]); - joint_position_commands_[i] = joint_positions_[i]; + // fake controller, set position state to equal command state + joint_positions_[i]; = joint_position_commands_[i]; } controller_manager_->update(ros::Time::now(), elapsed_time_); } else { diff --git a/src/move_group_arm/include/moveGroup.h b/src/move_group_arm/include/moveGroup.h new file mode 100644 index 000000000..b3d7f6cbd --- /dev/null +++ b/src/move_group_arm/include/moveGroup.h @@ -0,0 +1,30 @@ +#include +#include + +#include +#include + +#include +#include + +#include + +class MoveGroupArm { + public: + MoveGroupArm(int argc, char** argv, string node_name); + + private: + void updatePose(const sb_msgs::ArmPosition::ConstPtr& observed_msg); + void toggleMode(const std_msgs::Bool::ConstPtr& inMsg); + double degToRad(double deg); + void init(); + + ros::Subscriber curPos; + ros::Subscriber curMode; + + bool cartesian_mode = false; + std::vector actuator_positions_; + std::vector joint_positions_; + std::vector joint_group_positions; + int num_joints_ = 6; +} \ No newline at end of file diff --git a/src/move_group_arm/src/moveGroup.cpp b/src/move_group_arm/src/moveGroup.cpp index 0e32e9350..1c6045b3e 100644 --- a/src/move_group_arm/src/moveGroup.cpp +++ b/src/move_group_arm/src/moveGroup.cpp @@ -1,72 +1,85 @@ -#include -#include +/* + * Created By: Tate Kolton + * Created On: August 9, 2022 + * Description: Uses move group interface to update current joint pose in moveit when switching + * from joint space mode to cartesian mode (IK) + */ -#include -#include +#include "../include/moveGroup.h" -#include -#include +MoveGroupArm::MoveGroupArm(int argc, char** argv, string node_name) +{ + + ros::init(argc, argv, node_name); + ros::NodeHandle node_handle; + subPos = + node_handle.subscribe("/observed_pos_arm", 1, &updatePose, this); + curMode = + node_handle.subscribe("/moveit_toggle", 1, &toggleMode, this); + + init(); -#include +} -int main(int argc, char** argv) +void MoveGroupArm::toggleMode(const std_msgs::Bool::ConstPtr& inMsg) { + cartesian_mode = inMsg->data; + if (cartesian_mode) + ROS_INFO("Enabling Cartesian Mode"); + else { + ROS_INFO("Disabling Cartesian Mode"); + previous_time_ = ros::Time::now(); + } +} + +void MoveGroupArm::updatePose(const sb_msgs::ArmPosition::ConstPtr& observed_msg) { - ros::init(argc, argv, "ar3_control_demo"); - ros::NodeHandle node_handle; - ros::AsyncSpinner spinner(1); - spinner.start(); + actuator_positions_.assign(observed_msg->positions.begin(), observed_msg->positions.end()); + if(!cartesian_mode) + { + moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); + current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); + for(int i=0; i joint_group_positions; + current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); + move_group.setJointValueTarget(joint_group_positions); + bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + if(success) + { + ROS_INFO("Target pose successfully planned"); + } - // BEGIN_TUTORIAL - // - // Setup - // ^^^^^ - // - // MoveIt operates on sets of joints called "planning groups" and stores them in an object called - // the `JointModelGroup`. Throughout MoveIt the terms "planning group" and "joint model group" - // are used interchangably. + else + { + ROS_INFO("Target pose failed"); + } + move_group.move(); + } +} + +void MoveGroupArm::init() +{ + actuator_positions_.resize(num_joints_); + joint_positions_.resize(num_joints_); + joint_group_positions.resize(num_joints_); static const std::string PLANNING_GROUP = "arm"; // The :move_group_interface:`MoveGroupInterface` class can be easily // setup using just the name of the planning group you would like to control and plan for. moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); - - // We will use the :planning_scene_interface:`PlanningSceneInterface` - // class to add and remove collision objects in our "virtual world" scene moveit::planning_interface::PlanningSceneInterface planning_scene_interface; // Raw pointers are frequently used to refer to the planning group for improved performance. const robot_state::JointModelGroup* joint_model_group = move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP); - // We can get a list of all the groups in the robot: - ROS_INFO_NAMED("tutorial", "Available Planning Groups:"); - std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(), - std::ostream_iterator(std::cout, ", ")); - -moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); - // - // Next get the current set of joint values for the group. - std::vector joint_group_positions; - current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); - - // Now, let's modify one of the joints, plan to the new joint space goal and visualize the plan. - joint_group_positions[0] = 1.57; // radians - joint_group_positions[1] = 0.785; // radians - joint_group_positions[2] = 1.57; // radians - joint_group_positions[3] = 0.0; // radians - joint_group_positions[4] = -0.785; // radians - joint_group_positions[5] = 0.0; // radians - move_group.setJointValueTarget(joint_group_positions); - - success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); - ROS_INFO_NAMED("tutorial", "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED"); - - // Visualize the plan in RViz - visual_tools.deleteAllMarkers(); - visual_tools.publishText(text_pose, "Joint Space Goal", rvt::WHITE, rvt::XLARGE); - visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group->getLinkModel("link_6"), joint_model_group, rvt::LIME_GREEN); - visual_tools.trigger(); - visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to execute joint-space goal"); + moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); +} - move_group.move(); +double ArmHardwareInterface::degToRad(double deg) { + return deg / 180.0 * 3.14159; } \ No newline at end of file diff --git a/src/move_group_arm/src/move_group.cpp b/src/move_group_arm/src/move_group.cpp new file mode 100644 index 000000000..4b416fb14 --- /dev/null +++ b/src/move_group_arm/src/move_group.cpp @@ -0,0 +1,21 @@ +/* + * Created By: Tate Kolton + * Created On: August 9, 2022 + * Description: Move groups interface for arm + */ + +#include "../include/moveGroup.h" + +int main(int argc, char** argv) { + // Setup your ROS node + std::string node_name = "move_group"; + + // Create an instance of your class + MoveGroupArm arm(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} From bcd43ce402dfad36365d1ad88dca905f1fb913cd Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 10 Aug 2022 10:51:58 -0700 Subject: [PATCH 088/124] added move group execution based on mode switching --- src/move_group_arm/include/moveGroup.h | 5 +- src/move_group_arm/src/moveGroup.cpp | 70 +++++++++---------- .../include/ProController.h | 3 + .../src/ProController.cpp | 4 ++ 4 files changed, 41 insertions(+), 41 deletions(-) diff --git a/src/move_group_arm/include/moveGroup.h b/src/move_group_arm/include/moveGroup.h index b3d7f6cbd..6646647ec 100644 --- a/src/move_group_arm/include/moveGroup.h +++ b/src/move_group_arm/include/moveGroup.h @@ -15,14 +15,13 @@ class MoveGroupArm { private: void updatePose(const sb_msgs::ArmPosition::ConstPtr& observed_msg); - void toggleMode(const std_msgs::Bool::ConstPtr& inMsg); + void executePose(const std_msgs::Bool::ConstPtr& inMsg); double degToRad(double deg); void init(); ros::Subscriber curPos; - ros::Subscriber curMode; + ros::Subscriber subExecute; - bool cartesian_mode = false; std::vector actuator_positions_; std::vector joint_positions_; std::vector joint_group_positions; diff --git a/src/move_group_arm/src/moveGroup.cpp b/src/move_group_arm/src/moveGroup.cpp index 1c6045b3e..38e6a861e 100644 --- a/src/move_group_arm/src/moveGroup.cpp +++ b/src/move_group_arm/src/moveGroup.cpp @@ -14,51 +14,44 @@ MoveGroupArm::MoveGroupArm(int argc, char** argv, string node_name) ros::NodeHandle node_handle; subPos = node_handle.subscribe("/observed_pos_arm", 1, &updatePose, this); - curMode = - node_handle.subscribe("/moveit_toggle", 1, &toggleMode, this); + subExecute = + node_handle.subscribe("/move_group_trigger", 1, &executePose, this); init(); - } -void MoveGroupArm::toggleMode(const std_msgs::Bool::ConstPtr& inMsg) { - cartesian_mode = inMsg->data; - if (cartesian_mode) - ROS_INFO("Enabling Cartesian Mode"); - else { - ROS_INFO("Disabling Cartesian Mode"); - previous_time_ = ros::Time::now(); - } +void MoveGroupArm::executePose(const std_msgs::Bool::ConstPtr& inMsg) { + + // fetches current state of rover + moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); + current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); + + // writes new position command + for(int i=0; ipositions.begin(), observed_msg->positions.end()); - if(!cartesian_mode) - { - moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); - current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); - for(int i=0; i joint_group_positions; - current_state->copyJointGroupPositions(joint_model_group, joint_group_positions); - move_group.setJointValueTarget(joint_group_positions); - bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); - if(success) - { - ROS_INFO("Target pose successfully planned"); - } - - else - { - ROS_INFO("Target pose failed"); - } - move_group.move(); - } } void MoveGroupArm::init() @@ -80,6 +73,7 @@ void MoveGroupArm::init() moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); } -double ArmHardwareInterface::degToRad(double deg) { - return deg / 180.0 * 3.14159; +double ArmHardwareInterface::degToRad(double deg) +{ + return deg / 180.0 * 3.14159; } \ No newline at end of file diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 0666f20d5..a43067723 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -18,6 +18,8 @@ #include #include #include +#include + using namespace std; class ProController { @@ -99,6 +101,7 @@ class ProController { ros::Publisher pubmove; ros::Publisher pubarm; ros::Publisher pubmode; + ros::Publisher pubmovegrp; std_msgs::Bool true_message; std_msgs::Bool false_message; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 6f1a0c979..0fab2d205 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -12,6 +12,7 @@ ProController::ProController(int argc, char** argv, string node_name) { string publisher = "/cmd_vel"; string armPublisher = "/cmd_arm"; string modePublisher = "/moveit_toggle"; + string moveGrpPublisher = "/move_group_trigger"; setup(); ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); @@ -27,6 +28,7 @@ ProController::ProController(int argc, char** argv, string node_name) { pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); pubmode = private_nh.advertise(modePublisher, 1); + pubmovegrp = private_.nh.advertise(moveGrpPublisher,1); true_message.data = true; false_message.data = false; @@ -367,6 +369,8 @@ void ProController::home(int value) { if (state == Mode::wheels || state == Mode::arm_joint_space) { pubmode.publish(false_message); } else { + pubmovegrp.publish(true_message); + sleep(8); pubmode.publish(true_message); } printState(); From 61dc301444691f0c37a37203e3f2616170bdae72 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 10 Aug 2022 11:30:07 -0700 Subject: [PATCH 089/124] fixed firmwrae directional problem when switching back to joint mode: --- src/teensy-firmware/src/armFirmware/armFirmware.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 28f3619b6..770b2cffb 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -487,7 +487,7 @@ void cartesianToJointSpace() for(int i=0; i Date: Mon, 8 Aug 2022 13:33:46 -0700 Subject: [PATCH 090/124] Invert controller axes in wheel mode and make speed adjustable (#421) * Swap X & Y axes on left joystick in wheel mode * Move setup call and use ROS_DEBUG when debug is set to true * Change speed of rover via arrowbuttons * Format ProController.cpp Co-authored-by: TateKolton --- .../include/ProController.h | 1 + .../src/ProController.cpp | 33 +++++++++++-------- 2 files changed, 21 insertions(+), 13 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index a43067723..7a833063a 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -105,6 +105,7 @@ class ProController { std_msgs::Bool true_message; std_msgs::Bool false_message; + int speed = 50; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 0fab2d205..e66f24f40 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -13,7 +13,6 @@ ProController::ProController(int argc, char** argv, string node_name) { string armPublisher = "/cmd_arm"; string modePublisher = "/moveit_toggle"; string moveGrpPublisher = "/move_group_trigger"; - setup(); ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); if (private_nh.param("X", X_SENSITIVITY, 1.0)) { @@ -25,6 +24,7 @@ ProController::ProController(int argc, char** argv, string node_name) { if (private_nh.param("debug", debug, false)) { ROS_INFO("Debug mode %s", (debug) ? "on" : "off"); } + setup(); pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); pubmode = private_nh.advertise(modePublisher, 1); @@ -66,10 +66,10 @@ void ProController::setup() { libevdev_get_name(dev), path); if (debug) { - ROS_INFO("Input device ID: bus %#x vendor %#x product %#x\n", - libevdev_get_id_bustype(dev), - libevdev_get_id_vendor(dev), - libevdev_get_id_product(dev)); + ROS_DEBUG("Input device ID: bus %#x vendor %#x product %#x\n", + libevdev_get_id_bustype(dev), + libevdev_get_id_vendor(dev), + libevdev_get_id_product(dev)); } break; } @@ -154,7 +154,7 @@ void ProController::readInputs() { void ProController::printControllerDebug(int type, int code, int value) { auto codeout = libevdev_event_code_get_name(type, code); auto typeout = libevdev_event_type_get_name(type); - ROS_INFO("Event: Type: %s Code: %s Value: %d\n", typeout, codeout, value); + ROS_DEBUG("Event: Type: %s Code: %s Value: %d\n", typeout, codeout, value); } // Prints a status message detailing the current control mode @@ -180,8 +180,8 @@ tuple ProController::publishMoveXZ(double x_new, double z_old) { if (abs(x_old - x_new) > 0.0001 || abs(z_old - z_new) > 0.0001) { geometry_msgs::Twist msg; - msg.linear.x = x_new; - msg.angular.z = z_new; + msg.linear.x = x_new * speed; + msg.angular.z = z_new * speed; pubmove.publish(msg); // return tuple return make_tuple(x_new, z_new); @@ -201,9 +201,8 @@ void ProController::publishArmMessage(std::string outMsg) { void ProController::leftJoystickX(int value) { if (value > 115 && value < 135) { - if(state == Mode::wheels) { - z = 0; + x = 0; } else if(state == Mode::arm_joint_space){ @@ -216,7 +215,7 @@ void ProController::leftJoystickX(int value) { // 128 is the center, so this normalizes the result to // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); - z = -(value - 128) / 128.0 * Z_SENSITIVITY; + x = (value - 128) / 128.0 * X_SENSITIVITY; // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick if(state == Mode::arm_joint_space) { @@ -235,12 +234,12 @@ void ProController::leftJoystickX(int value) { // Updates x, which is then published by publish___XZ in readInputs() void ProController::leftJoystickY(int value) { if (value > 115 && value < 135) { - x = 0; + z = 0; } else { // 128 is the center, so this normalizes the result to // [-1,1]*X_SENSITIVITY ROS_INFO("Left Joystick Y event with value: %d\n", value); - x = (value - 128) / 128.0 * X_SENSITIVITY; + z = -(value - 128) / 128.0 * Z_SENSITIVITY; } } @@ -415,12 +414,20 @@ void ProController::arrowsUorD(int value) { if (value == 1) { ROS_INFO("Up button pressed"); armOutVal = arrowU; + if (state == Mode::wheels) { + speed = speed < 100 ? speed + 5 : speed; + ROS_INFO("Speed increased to %d%% of max output", speed); + } } else if (value == 0) { ROS_INFO("Arrow button released"); armOutVal = arrowUDRel; } else { ROS_INFO("Down button pressed"); armOutVal = arrowD; + if (state == Mode::wheels) { + speed = speed > 5 ? speed - 5 : speed; + ROS_INFO("Speed increased to %d%% of max output", speed); + } } } From 87a6ea586327ab6bae5a2c076f565a1011ae3385 Mon Sep 17 00:00:00 2001 From: Roozki <100379736+Roozki@users.noreply.github.com> Date: Tue, 9 Aug 2022 11:59:28 -0700 Subject: [PATCH 091/124] Add ROS driver for Piksi gps module (#416) * Add ROS driver for Piksi gps module Add supporting Swift Navigation Binary Library to external libs folder (libsbp) * Cleaned Up PR mistakes * More minor mistakes * Fixed name of external piksi * Told ROS to not look for libswiftnav * Fixed spelling error * fixed line 54 to make install_dependencies.sh skip libswiftnav. * fixed error in install_libspb, corrected a change directory --- .rosinstall | 7 +++++++ setup_scripts/install_dependencies.sh | 7 +++++-- setup_scripts/install_libsbp.sh | 13 +++++++++++++ 3 files changed, 25 insertions(+), 2 deletions(-) create mode 100755 setup_scripts/install_libsbp.sh diff --git a/.rosinstall b/.rosinstall index 6315bf62e..87b7413b5 100644 --- a/.rosinstall +++ b/.rosinstall @@ -10,6 +10,12 @@ - git: local-name: src/external_pkgs/ros_arduino_bridge uri: https://github.com/UBC-Snowbots/ros_arduino_bridge.git +- git: + local-name: src/external_pkgs/swiftnav_piksi + uri: https://github.com/PaulBouchier/swiftnav_piksi.git +- git: + local-name: external_libs/libsbp + uri: https://github.com/PaulBouchier/libsbp - git: local-name: src/external_pkgs/sicktoolbox uri: https://github.com/UBC-Snowbots/sicktoolbox.git @@ -29,3 +35,4 @@ - git: local-name: external_libs/joycond uri: https://github.com/DanielOgorchock/joycond + diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index 13c62bb64..abdb98f63 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -51,7 +51,7 @@ cd $CURR_DIR rosdep install --from-paths \ $CURR_DIR/../src \ $CURR_DIR/../src/external_pkgs \ - --ignore-src --rosdistro melodic --skip-keys=librealsense2 -y + --ignore-src --rosdistro melodic --skip-keys=librealsense2 --skip-keys=libswiftnav -y echo "================================================================" echo "Installing other dependencies specified by our packages" @@ -60,7 +60,10 @@ cd $CURR_DIR # sudo ./setup_realsense_manual.sh cd $CURR_DIR -# sudo ./install_phidgets.sh +sudo ./install_phidgets.sh +cd $CURR_DIR +sudo ./install_libsbp.sh +cd $CURR_DIR echo "================================================================" echo "Installing Misc. Utilities" diff --git a/setup_scripts/install_libsbp.sh b/setup_scripts/install_libsbp.sh new file mode 100755 index 000000000..bc33992bf --- /dev/null +++ b/setup_scripts/install_libsbp.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +echo "================================================================" +echo "Installing Swift Navigation's Binary Protocol library || (GPS)" +echo "================================================================" + +cd ../external_libs/libsbp/c # get to build space +mkdir build +cd build +cmake ../ +make +sudo make install # install headers and libraries into /usr/local + From 4df1fd3a26e4ea01722c1bf588d789b2dc5c7978 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 4 Jul 2022 18:16:18 -0700 Subject: [PATCH 092/124] Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node --- src/procontroller_snowbots/include/ProController.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 7a833063a..fb9e36601 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -58,7 +58,7 @@ class ProController { double x; double z; std::string armOutMsg, armOutVal; -// character representations of buttons for arm communication + // character representations of buttons for arm communication const char leftJSL = 'A'; const char leftJSR = 'B'; const char rightJSU = 'C'; From 0c3aa83af63c4db0831c865d58f1c76ae4835849 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 13 Jul 2022 16:51:04 -0700 Subject: [PATCH 093/124] teensy driver and firmware progress --- .../src/arm_hardware_driver.cpp | 2 - .../include/ProController.h | 2 +- src/teensy-firmware/src/armFirmware.ino | 617 ++++++++++++++++++ 3 files changed, 618 insertions(+), 3 deletions(-) create mode 100644 src/teensy-firmware/src/armFirmware.ino diff --git a/src/arm_hardware_driver/src/arm_hardware_driver.cpp b/src/arm_hardware_driver/src/arm_hardware_driver.cpp index a3561337f..5b36f73f6 100644 --- a/src/arm_hardware_driver/src/arm_hardware_driver.cpp +++ b/src/arm_hardware_driver/src/arm_hardware_driver.cpp @@ -20,8 +20,6 @@ int main(int argc, char** argv) { // Create an instance of your class ArmHardwareDriver teensyComm(nh); - - // Start up ros. This will continue to run until the node is killed ros::MultiThreadedSpinner spinner(0); spinner.spin(&ros_queue); diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index fb9e36601..7a833063a 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -58,7 +58,7 @@ class ProController { double x; double z; std::string armOutMsg, armOutVal; - // character representations of buttons for arm communication +// character representations of buttons for arm communication const char leftJSL = 'A'; const char leftJSR = 'B'; const char rightJSU = 'C'; diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.ino new file mode 100644 index 000000000..fdbfb428e --- /dev/null +++ b/src/teensy-firmware/src/armFirmware.ino @@ -0,0 +1,617 @@ +/* +Created By: Tate Kolton, Rowan Zawadzki +Created On: December 21, 2021 +Updated: April 27, 2022 +Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU +*/ + +#include + +// general parameters +#define NUM_AXES 6 +#define NUM_AXES_EX_WRIST 4 +#define NUM_AXES_EFF 8 +#define NUM_PARAMS 7 +#define ON 0 +#define OFF 1 +#define SW_ON 0 +#define SW_OFF 1 +#define FWD 1 +#define REV 0 + +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; + +static const char release = 'R'; +static const char move = 'M'; +static const char change = 'A'; +static const char speed = 'S'; +static const char right = 'R'; +static const char left = 'L'; +static const char up = 'U'; +static const char down = 'D'; +static const char wrist = 'W'; + +int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; +int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; + +// limit switch pins +int limPins[6] = {23, 22, 20, 21, 18, 19}; + +// pulses per revolution for motors +long ppr[6] = {400, 400, 400, 400, 400, 400}; + +// Gear Reduction Ratios +float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34}; + +// Encoder pulses per revolution +long pprEnc = 512; + +// Motor speeds and accelerations +int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; +int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; +int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; + +// Range of motion (degrees) for each axis +int maxAngles[6] = {180, 70, 180, 120, 140, 100}; + +const unsigned long readInterval = 10; +unsigned long currentTime; +unsigned long previousTime = 0; + +// stepper motor objects for AccelStepper library +AccelStepper steppers[8]; + +// variable declarations +long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; +int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; +int currentAxis = 1; +int runFlags[] = {0, 0, 0, 0, 0, 0}; +int i; +char garbage; +bool initFlag = false; + +// variables for homing / arm calibration +long homePosConst = -99000; +long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; +long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500}; +long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; +long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; +char value; + +// values for changing speed +const int maxSpeedIndex = 2; +int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; +int speedIndex = maxSpeedIndex; +char faster = 'U'; +char slower = 'D'; + + +void setup() { // setup function to initialize pins and provide initial homing to the arm + + Serial.begin(9600); + + // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library + for(i = 0; i readInterval) { + commandArm() + previousTime = currentTime; + } + + runSteppers(); +} + +void commandArm() +{ + String inData = ""; + char recieved = ""; + if(Serial.available()) + { + do { + recieved = Serial.read(); + inData += recieved; + } while(recieved != '\n'); + } + + if(recieved == '\n') + { + parseMessage(inData); + } +} + +void parseMessage(String inMsg) +{ + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } + + else if(function == "JM") + { + jointCommands(inMsg); + } + + else if(function == "EE") + { + endEffectorCommands(inMsg); + } + + else if(function == "DM") + { + drillCommands(inMsg); + } + + else if(function == "HM") + { + homeArm(); + } +} + +//****//CARTESIAN MODE FUNCTIONS//****// + +void cartesianCommands() +{ + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(msg); + + // get new position commands + int msgIdxJ1 = inData.indexOf('A'); + int msgIdxJ2 = inData.indexOf('B'); + int msgIdxJ3 = inData.indexOf('C'); + int msgIdxJ4 = inData.indexOf('D'); + int msgIdxJ5 = inData.indexOf('E'); + int msgIdxJ6 = inData.indexOf('F'); + cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + stepperJoints[i].move(diffMotSteps); + } + } +} + +// parses which commands to execute when in joint space mode +void jointCommands(String inMsg) +{ + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} + +// Sets movement target positions when in joint space mode +void jointMovement(char joystick, char dir) +{ + if(joystick == wrist) + { + switch(dir) + { + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; + } + } + + else if(joystick == left) + { + switch(dir) + { + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; + } + } + + else + { + switch(dir) + { + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; + } + } +} + +//****//ENCODER RELATED FUNCTIONS//****// + +void readEncPos(int* encPos) +{ + encPos[0] = J1encPos.read() * ENC_DIR[0]; + encPos[1] = J2encPos.read() * ENC_DIR[1]; + encPos[2] = J3encPos.read() * ENC_DIR[2]; + encPos[3] = J4encPos.read() * ENC_DIR[3]; + encPos[4] = J5encPos.read() * ENC_DIR[4]; + encPos[5] = J6encPos.read() * ENC_DIR[5]; +} + +//****//JOINT SPACE MODE FUNCTIONS//****// + +// sets target position for axes in joint space mode +void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position + + if(axis == 3) { + dir = !dir; + } + + if(runFlags[axis-1] == 1 && dir == FWD) { + } + + else if(runFlags[axis-1] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); + runFlags[axis-1] = 1; + } + + else { + steppers[axis-1].moveTo(0); + runFlags[axis-1] = -1; + } +} + +void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. + + if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions + if(runFlags[5] == 1 && dir == FWD) { + } + + else if(runFlags[5] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[6].moveTo(axisDir[6]*max_steps[5]); + steppers[7].moveTo(axisDir[7]*max_steps[5]); + runFlags[5] = 1; + } + + else { + steppers[6].moveTo(0); + steppers[7].moveTo(0); + runFlags[5] = -1; + } + } + + else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction + dir = !dir; + if(runFlags[4] == 1 && dir == FWD) { + } + + else if(runFlags[4] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[4].moveTo(axisDir[4]*max_steps[4]); + steppers[5].moveTo(axisDir[5]*max_steps[4]); + runFlags[4] = 1; + } + + else { + steppers[4].moveTo(0); + steppers[5].moveTo(0); + runFlags[4] = -1; + } + } +} + +void changeAxis(int dir) { // when user hits specified button, axis targets change + + if((dir == up) && (currentAxis == 1)) + { + currentAxis = 3; + zeroRunFlags(); + } + + else if((dir == down) && (currentAxis == 3)) + { + currentAxis = 1; + zeroRunFlags(); + } +} + +void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character + + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) + { + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; + } + + else + { + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; + } + } + + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } +} + +void changeSpeed(char speedVal) { // changes speed of all axes based on user input + + if(speedVal == faster){ + if(speedIndex < maxSpeedIndex) { + speedIndex++; + for(i=0;i 0) { + speedIndex--; + for(i=0;i Date: Fri, 15 Jul 2022 16:20:44 -0700 Subject: [PATCH 094/124] xbox mode implementation and hardware interface beginning --- .../include/armHardwareDriver.h | 1 - .../src/armHardwareDriver.cpp | 11 + .../include/ProController.h | 1 + .../src/ProController.cpp | 6 + .../src/{armFirmware.ino => armFirmware.cpp} | 337 +++++++++--------- 5 files changed, 196 insertions(+), 160 deletions(-) rename src/teensy-firmware/src/{armFirmware.ino => armFirmware.cpp} (73%) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 0168a1cc7..06827121b 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -25,7 +25,6 @@ // Other #include -// #include class ArmHardwareDriver { public: diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 3ac107109..d4ea663b5 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -168,6 +168,17 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { } } +void ArmHardwareDriver::cartesian_motion(std::string inMsg) +{ + char action = inMsg[1]; + + switch(action) { + case arrowL: endEffector(left); break; + case arrowR: endEffector(right); break; + case arrowRLRel: endEffectorRel(); break; + } +} + // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 7a833063a..c418bd71c 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -106,6 +106,7 @@ class ProController { std_msgs::Bool true_message; std_msgs::Bool false_message; int speed = 50; + ros::Publisher pubmode; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index e66f24f40..e77d3d6cf 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -197,6 +197,12 @@ void ProController::publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } +void publishArmMode(std::Boolean mode) { + std_msgs::Bool outMsgWrapper; + outMsgWrapper.data = mode; + pubmode.publish(outMsgWrapper); +} + // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.cpp similarity index 73% rename from src/teensy-firmware/src/armFirmware.ino rename to src/teensy-firmware/src/armFirmware.cpp index fdbfb428e..ecaddd288 100644 --- a/src/teensy-firmware/src/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -30,6 +30,9 @@ static const char left = 'L'; static const char up = 'U'; static const char down = 'D'; static const char wrist = 'W'; +static const char garbage = 'G'; +static const char faster = 'U'; +static const char slower = 'D'; int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; @@ -68,7 +71,6 @@ int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; int currentAxis = 1; int runFlags[] = {0, 0, 0, 0, 0, 0}; int i; -char garbage; bool initFlag = false; // variables for homing / arm calibration @@ -84,8 +86,7 @@ char value; const int maxSpeedIndex = 2; int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; int speedIndex = maxSpeedIndex; -char faster = 'U'; -char slower = 'D'; + void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -106,155 +107,170 @@ void setup() { // setup function to initialize pins and provide initial homing t void loop() { - currentTime = millis(); + currentTime = millis(); - if((currentTime - previousTime) > readInterval) { - commandArm() - previousTime = currentTime; - } + if((currentTime - previousTime) > readInterval) { + recieveCommand(); + previousTime = currentTime; + } - runSteppers(); +runSteppers(); } -void commandArm() +void recieveCommand() { - String inData = ""; - char recieved = ""; - if(Serial.available()) - { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); - } + String inData = ""; + char recieved = garbage; + if(Serial.available()>0) + { + do { + recieved = Serial.read(); + inData += String(recieved); + } while(recieved != '\n'); + } - if(recieved == '\n') - { - parseMessage(inData); - } + if(recieved == '\n') + { + parseMessage(inData); + } } void parseMessage(String inMsg) { - String function = inMsg.substring(0, 2); - - if(function == "MT") - { - cartesianCommands(inMsg); - } + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } - else if(function == "JM") - { - jointCommands(inMsg); - } + else if(function == "JM") + { + jointCommands(inMsg); + } - else if(function == "EE") - { - endEffectorCommands(inMsg); - } + else if(function == "EE") + { + endEffectorCommands(inMsg); + } - else if(function == "DM") - { - drillCommands(inMsg); - } + else if(function == "DM") + { + drillCommands(inMsg); + } - else if(function == "HM") - { - homeArm(); - } + else if(function == "HM") + { + homeArm(); + } } //****//CARTESIAN MODE FUNCTIONS//****// -void cartesianCommands() +void cartesianCommands(String inMsg) { - // read current joint positions - readEncPos(curEncSteps); - - // update host with joint positions - String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); - Serial.print(msg); - - // get new position commands - int msgIdxJ1 = inData.indexOf('A'); - int msgIdxJ2 = inData.indexOf('B'); - int msgIdxJ3 = inData.indexOf('C'); - int msgIdxJ4 = inData.indexOf('D'); - int msgIdxJ5 = inData.indexOf('E'); - int msgIdxJ6 = inData.indexOf('F'); - cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); - cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); - cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); - cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); - cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); - cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); - - // update target joint positions - readEncPos(curEncSteps); - for (int i = 0; i < NUM_AXES; i++) - { - int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; - if (abs(diffEncSteps) > 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - stepperJoints[i].move(diffMotSteps); - } + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + sendCurrentPosition(); + + // get new position commands + int msgIdxJ1 = inMsg.indexOf('A'); + int msgIdxJ2 = inMsg.indexOf('B'); + int msgIdxJ3 = inMsg.indexOf('C'); + int msgIdxJ4 = inMsg.indexOf('D'); + int msgIdxJ5 = inMsg.indexOf('E'); + int msgIdxJ6 = inMsg.indexOf('F'); + cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + steppers[i].move(diffMotSteps); } + } } // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { - char function = inMsg[2]; - char detail1 = inMsg[3]; + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} - switch(function) - { - case release: releaseEvent(detail1, inMsg[4]); break; - case speed: changeSpeed(detail1); break; - case axis: changeAxis(detail1); break; - case move: jointMovement(detail1, inMsg[4]); break; - } +void endEffectorCommands(String inMsg) +{ + // fill with end effector commands depending on substring +} + +void drillMotion(String inMsg) +{ + // fill with calls to drill functions depending on substring +} + +void sendCurrentPosition() +{ + String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(outMsg); } // Sets movement target positions when in joint space mode void jointMovement(char joystick, char dir) { - if(joystick == wrist) + if(joystick == wrist) + { + switch(dir) { - switch(dir) - { - case up: runWrist(FWD, 5); break; - case down: runWrist(REV, 5); break; - case left: runWrist(FWD, 6); break; - case right: runWrist(REV, 6); break; - } + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; } + } - else if(joystick == left) + else if(joystick == left) + { + switch(dir) { - switch(dir) - { - case left: runAxes(FWD, currentAxis); break; - case right: runAxes(REV, currentAxis); break; - } + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; } + } - else + else + { + switch(dir) { - switch(dir) - { - case up: runAxes(FWD, currentAxis+1); break; - case down: runAxes(REV, currentAxis+1); break; - } + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; } + } } //****//ENCODER RELATED FUNCTIONS//****// @@ -356,34 +372,34 @@ void changeAxis(int dir) { // when user hits specified button, axis targets chan void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character - if(joystick == wrist) + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) { - if ((dir == up) || (dir == down)) - { - steppers[6].stop(); - steppers[7].stop(); - runFlags[5] = 0; - } - - else - { - steppers[4].stop(); - steppers[5].stop(); - runFlags[4] = 0; - } + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; } - else if(joystick == left) + else { - steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; } + } - else - { - steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); - } + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } } void changeSpeed(char speedVal) { // changes speed of all axes based on user input @@ -418,13 +434,6 @@ void zeroRunFlags() { // when user changes axis to control on switch, slow curre } } - - - - - - - //****// ARM CALIBRATION FUNCTIONS//****// void homeArm() { // main function for full arm homing @@ -433,6 +442,7 @@ void homeArm() { // main function for full arm homing initializeHomingMotion(); homeBase(); initializeMotion(); + sendCurrentPosition(); } void homeBase() { // homes axes 1-4 @@ -591,27 +601,36 @@ void runSteppers() { // runs all stepper motors (if no target position has been void waitForHome() { // stops arm motion until user homes arm after firmware is flashed - String inData = ""; - char recieved = ""; - bool initFlag = false; - while(!initFlag) { - - if(Serial.available()) + String inData = ""; + char recieved; + bool initFlag = false; + bool serialFlag = false; + + while(!initFlag) { + + if(Serial.available() > 0) + { + recieved = Serial.read(); + inData += String(recieved) + if(recieved == '\n') + { + serialFlag = true; + } + } + + if(serialFlag) + { + if(inData = "HM") { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); + homeArm(); + initFlag = true; } - if(recieved == '\n') + else { - if(inData = "HM") - { - homeArm(); - initFlag = true; - } + inData = ""; + serialFlag = false; } - delay(readInterval); } + } } \ No newline at end of file From 784c10ed7bff8827fbbedbee69d93a677838da91 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Mon, 25 Jul 2022 12:42:36 -0700 Subject: [PATCH 095/124] Add ability to toggle usage of MoveIt --- src/procontroller_snowbots/include/ProController.h | 2 ++ src/procontroller_snowbots/src/ProController.cpp | 6 ------ 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index c418bd71c..68024b1ba 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -107,6 +107,8 @@ class ProController { std_msgs::Bool false_message; int speed = 50; ros::Publisher pubmode; + std_msgs::Bool true_message; + std_msgs::Bool false_message; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index e77d3d6cf..e66f24f40 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -197,12 +197,6 @@ void ProController::publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } -void publishArmMode(std::Boolean mode) { - std_msgs::Bool outMsgWrapper; - outMsgWrapper.data = mode; - pubmode.publish(outMsgWrapper); -} - // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { From a5188ba3c1e4f961e6272a263f8da27f9926248c Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 11:40:05 -0700 Subject: [PATCH 096/124] Fix install script --- .rosinstall | 1 - 1 file changed, 1 deletion(-) diff --git a/.rosinstall b/.rosinstall index 87b7413b5..a7e3cec81 100644 --- a/.rosinstall +++ b/.rosinstall @@ -35,4 +35,3 @@ - git: local-name: external_libs/joycond uri: https://github.com/DanielOgorchock/joycond - From dd3129826a17038385c3776fe905ccb9133994ae Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 10 Aug 2022 15:13:41 -0700 Subject: [PATCH 097/124] Resolve compiler errors --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 11 ----------- .../src/armHardwareInterface.cpp | 2 +- src/procontroller_snowbots/include/ProController.h | 3 --- src/procontroller_snowbots/src/ProController.cpp | 2 +- 4 files changed, 2 insertions(+), 16 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d4ea663b5..3ac107109 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -168,17 +168,6 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { } } -void ArmHardwareDriver::cartesian_motion(std::string inMsg) -{ - char action = inMsg[1]; - - switch(action) { - case arrowL: endEffector(left); break; - case arrowR: endEffector(right); break; - case arrowRLRel: endEffectorRel(); break; - } -} - // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); diff --git a/src/arm_hardware_interface/src/armHardwareInterface.cpp b/src/arm_hardware_interface/src/armHardwareInterface.cpp index bab32bd30..1d4372a68 100644 --- a/src/arm_hardware_interface/src/armHardwareInterface.cpp +++ b/src/arm_hardware_interface/src/armHardwareInterface.cpp @@ -101,7 +101,7 @@ const sb_msgs::ArmPosition::ConstPtr& observed_msg) { previous_time_ = observed_msg->header.stamp; for (int i = 0; i < num_joints_; ++i) { // fake controller, set position state to equal command state - joint_positions_[i]; = joint_position_commands_[i]; + joint_positions_[i] = joint_position_commands_[i]; } controller_manager_->update(ros::Time::now(), elapsed_time_); } else { diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 68024b1ba..7a833063a 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -106,9 +106,6 @@ class ProController { std_msgs::Bool true_message; std_msgs::Bool false_message; int speed = 50; - ros::Publisher pubmode; - std_msgs::Bool true_message; - std_msgs::Bool false_message; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index e66f24f40..9b936e5d4 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -28,7 +28,7 @@ ProController::ProController(int argc, char** argv, string node_name) { pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); pubmode = private_nh.advertise(modePublisher, 1); - pubmovegrp = private_.nh.advertise(moveGrpPublisher,1); + pubmovegrp = private_nh.advertise(moveGrpPublisher,1); true_message.data = true; false_message.data = false; From 79b890fae8e6e5b75735d73566a45d56991fba63 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Wed, 10 Aug 2022 15:17:04 -0700 Subject: [PATCH 098/124] Remove armFirmware.cpp from messy rebase --- src/teensy-firmware/src/armFirmware.cpp | 636 ------------------------ 1 file changed, 636 deletions(-) delete mode 100644 src/teensy-firmware/src/armFirmware.cpp diff --git a/src/teensy-firmware/src/armFirmware.cpp b/src/teensy-firmware/src/armFirmware.cpp deleted file mode 100644 index ecaddd288..000000000 --- a/src/teensy-firmware/src/armFirmware.cpp +++ /dev/null @@ -1,636 +0,0 @@ -/* -Created By: Tate Kolton, Rowan Zawadzki -Created On: December 21, 2021 -Updated: April 27, 2022 -Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU -*/ - -#include - -// general parameters -#define NUM_AXES 6 -#define NUM_AXES_EX_WRIST 4 -#define NUM_AXES_EFF 8 -#define NUM_PARAMS 7 -#define ON 0 -#define OFF 1 -#define SW_ON 0 -#define SW_OFF 1 -#define FWD 1 -#define REV 0 - -int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; - -static const char release = 'R'; -static const char move = 'M'; -static const char change = 'A'; -static const char speed = 'S'; -static const char right = 'R'; -static const char left = 'L'; -static const char up = 'U'; -static const char down = 'D'; -static const char wrist = 'W'; -static const char garbage = 'G'; -static const char faster = 'U'; -static const char slower = 'D'; - -int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; -int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; - -// limit switch pins -int limPins[6] = {23, 22, 20, 21, 18, 19}; - -// pulses per revolution for motors -long ppr[6] = {400, 400, 400, 400, 400, 400}; - -// Gear Reduction Ratios -float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34}; - -// Encoder pulses per revolution -long pprEnc = 512; - -// Motor speeds and accelerations -int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; -int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; -int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; -int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; - -// Range of motion (degrees) for each axis -int maxAngles[6] = {180, 70, 180, 120, 140, 100}; - -const unsigned long readInterval = 10; -unsigned long currentTime; -unsigned long previousTime = 0; - -// stepper motor objects for AccelStepper library -AccelStepper steppers[8]; - -// variable declarations -long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; -int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; -int currentAxis = 1; -int runFlags[] = {0, 0, 0, 0, 0, 0}; -int i; -bool initFlag = false; - -// variables for homing / arm calibration -long homePosConst = -99000; -long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; -long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500}; -long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; -long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; -char value; - -// values for changing speed -const int maxSpeedIndex = 2; -int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; -int speedIndex = maxSpeedIndex; - - - -void setup() { // setup function to initialize pins and provide initial homing to the arm - - Serial.begin(9600); - - // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library - for(i = 0; i readInterval) { - recieveCommand(); - previousTime = currentTime; - } - -runSteppers(); -} - -void recieveCommand() -{ - String inData = ""; - char recieved = garbage; - if(Serial.available()>0) - { - do { - recieved = Serial.read(); - inData += String(recieved); - } while(recieved != '\n'); - } - - if(recieved == '\n') - { - parseMessage(inData); - } -} - -void parseMessage(String inMsg) -{ - String function = inMsg.substring(0, 2); - - if(function == "MT") - { - cartesianCommands(inMsg); - } - - else if(function == "JM") - { - jointCommands(inMsg); - } - - else if(function == "EE") - { - endEffectorCommands(inMsg); - } - - else if(function == "DM") - { - drillCommands(inMsg); - } - - else if(function == "HM") - { - homeArm(); - } -} - -//****//CARTESIAN MODE FUNCTIONS//****// - -void cartesianCommands(String inMsg) -{ - // read current joint positions - readEncPos(curEncSteps); - - // update host with joint positions - sendCurrentPosition(); - - // get new position commands - int msgIdxJ1 = inMsg.indexOf('A'); - int msgIdxJ2 = inMsg.indexOf('B'); - int msgIdxJ3 = inMsg.indexOf('C'); - int msgIdxJ4 = inMsg.indexOf('D'); - int msgIdxJ5 = inMsg.indexOf('E'); - int msgIdxJ6 = inMsg.indexOf('F'); - cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); - cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); - cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); - cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); - cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); - cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); - - // update target joint positions - readEncPos(curEncSteps); - for (int i = 0; i < NUM_AXES; i++) - { - int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; - if (abs(diffEncSteps) > 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - steppers[i].move(diffMotSteps); - } - } -} - -// parses which commands to execute when in joint space mode -void jointCommands(String inMsg) -{ - char function = inMsg[2]; - char detail1 = inMsg[3]; - - switch(function) - { - case release: releaseEvent(detail1, inMsg[4]); break; - case speed: changeSpeed(detail1); break; - case axis: changeAxis(detail1); break; - case move: jointMovement(detail1, inMsg[4]); break; - } -} - -void endEffectorCommands(String inMsg) -{ - // fill with end effector commands depending on substring -} - -void drillMotion(String inMsg) -{ - // fill with calls to drill functions depending on substring -} - -void sendCurrentPosition() -{ - String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); - Serial.print(outMsg); -} - -// Sets movement target positions when in joint space mode -void jointMovement(char joystick, char dir) -{ - if(joystick == wrist) - { - switch(dir) - { - case up: runWrist(FWD, 5); break; - case down: runWrist(REV, 5); break; - case left: runWrist(FWD, 6); break; - case right: runWrist(REV, 6); break; - } - } - - else if(joystick == left) - { - switch(dir) - { - case left: runAxes(FWD, currentAxis); break; - case right: runAxes(REV, currentAxis); break; - } - } - - else - { - switch(dir) - { - case up: runAxes(FWD, currentAxis+1); break; - case down: runAxes(REV, currentAxis+1); break; - } - } -} - -//****//ENCODER RELATED FUNCTIONS//****// - -void readEncPos(int* encPos) -{ - encPos[0] = J1encPos.read() * ENC_DIR[0]; - encPos[1] = J2encPos.read() * ENC_DIR[1]; - encPos[2] = J3encPos.read() * ENC_DIR[2]; - encPos[3] = J4encPos.read() * ENC_DIR[3]; - encPos[4] = J5encPos.read() * ENC_DIR[4]; - encPos[5] = J6encPos.read() * ENC_DIR[5]; -} - -//****//JOINT SPACE MODE FUNCTIONS//****// - -// sets target position for axes in joint space mode -void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position - - if(axis == 3) { - dir = !dir; - } - - if(runFlags[axis-1] == 1 && dir == FWD) { - } - - else if(runFlags[axis-1] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); - runFlags[axis-1] = 1; - } - - else { - steppers[axis-1].moveTo(0); - runFlags[axis-1] = -1; - } -} - -void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. - - if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions - if(runFlags[5] == 1 && dir == FWD) { - } - - else if(runFlags[5] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[6].moveTo(axisDir[6]*max_steps[5]); - steppers[7].moveTo(axisDir[7]*max_steps[5]); - runFlags[5] = 1; - } - - else { - steppers[6].moveTo(0); - steppers[7].moveTo(0); - runFlags[5] = -1; - } - } - - else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction - dir = !dir; - if(runFlags[4] == 1 && dir == FWD) { - } - - else if(runFlags[4] == -1 && dir == REV) { - } - - else if(dir == FWD) { - steppers[4].moveTo(axisDir[4]*max_steps[4]); - steppers[5].moveTo(axisDir[5]*max_steps[4]); - runFlags[4] = 1; - } - - else { - steppers[4].moveTo(0); - steppers[5].moveTo(0); - runFlags[4] = -1; - } - } -} - -void changeAxis(int dir) { // when user hits specified button, axis targets change - - if((dir == up) && (currentAxis == 1)) - { - currentAxis = 3; - zeroRunFlags(); - } - - else if((dir == down) && (currentAxis == 3)) - { - currentAxis = 1; - zeroRunFlags(); - } -} - -void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character - - if(joystick == wrist) - { - if ((dir == up) || (dir == down)) - { - steppers[6].stop(); - steppers[7].stop(); - runFlags[5] = 0; - } - - else - { - steppers[4].stop(); - steppers[5].stop(); - runFlags[4] = 0; - } - } - - else if(joystick == left) - { - steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); - } - - else - { - steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); - } -} - -void changeSpeed(char speedVal) { // changes speed of all axes based on user input - - if(speedVal == faster){ - if(speedIndex < maxSpeedIndex) { - speedIndex++; - for(i=0;i 0) { - speedIndex--; - for(i=0;i 0) - { - recieved = Serial.read(); - inData += String(recieved) - if(recieved == '\n') - { - serialFlag = true; - } - } - - if(serialFlag) - { - if(inData = "HM") - { - homeArm(); - initFlag = true; - } - - else - { - inData = ""; - serialFlag = false; - } - } - } -} \ No newline at end of file From 0214ed3e26980fc989a7244b452315d24dbca3c5 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Fri, 12 Aug 2022 18:11:56 -0700 Subject: [PATCH 099/124] Controller deadzone increase, wheel speed reduction, temporary removal of move groups --- .../src/ProController.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 9b936e5d4..2dfa19cb1 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -12,7 +12,7 @@ ProController::ProController(int argc, char** argv, string node_name) { string publisher = "/cmd_vel"; string armPublisher = "/cmd_arm"; string modePublisher = "/moveit_toggle"; - string moveGrpPublisher = "/move_group_trigger"; + // string moveGrpPublisher = "/move_group_trigger"; ros::init(argc, argv, node_name); ros::NodeHandle private_nh("~"); if (private_nh.param("X", X_SENSITIVITY, 1.0)) { @@ -28,7 +28,7 @@ ProController::ProController(int argc, char** argv, string node_name) { pubmove = private_nh.advertise(publisher, 1); pubarm = private_nh.advertise(armPublisher, 1); pubmode = private_nh.advertise(modePublisher, 1); - pubmovegrp = private_nh.advertise(moveGrpPublisher,1); + // pubmovegrp = private_nh.advertise(moveGrpPublisher,1); true_message.data = true; false_message.data = false; @@ -180,8 +180,8 @@ tuple ProController::publishMoveXZ(double x_new, double z_old) { if (abs(x_old - x_new) > 0.0001 || abs(z_old - z_new) > 0.0001) { geometry_msgs::Twist msg; - msg.linear.x = x_new * speed; - msg.angular.z = z_new * speed; + msg.linear.x = x_new * speed / 100; + msg.angular.z = z_new * speed / 100; pubmove.publish(msg); // return tuple return make_tuple(x_new, z_new); @@ -200,7 +200,7 @@ void ProController::publishArmMessage(std::string outMsg) { // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { - if (value > 115 && value < 135) { + if (value > 110 && value < 140) { if(state == Mode::wheels) { x = 0; } @@ -220,7 +220,7 @@ void ProController::leftJoystickX(int value) { // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick if(state == Mode::arm_joint_space) { - if(z > 0) { + if(x < 0) { armOutVal = leftJSL; } @@ -233,7 +233,7 @@ void ProController::leftJoystickX(int value) { // Updates x, which is then published by publish___XZ in readInputs() void ProController::leftJoystickY(int value) { - if (value > 115 && value < 135) { + if (value > 110 && value < 140) { z = 0; } else { // 128 is the center, so this normalizes the result to @@ -368,8 +368,8 @@ void ProController::home(int value) { if (state == Mode::wheels || state == Mode::arm_joint_space) { pubmode.publish(false_message); } else { - pubmovegrp.publish(true_message); - sleep(8); + // pubmovegrp.publish(true_message); + // sleep(8); pubmode.publish(true_message); } printState(); From a9bc530214f0801ee9c266922a9b11baa334bf04 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Fri, 12 Aug 2022 18:28:14 -0700 Subject: [PATCH 100/124] Adjust timer and serial communication settings --- .../src/armHardwareDriver.cpp | 101 +++++++++--------- 1 file changed, 49 insertions(+), 52 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 3ac107109..d65add639 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -41,7 +41,7 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { encStepsPerDeg[i] = reductions[i] * ppr * 5.12 / 360.0; } - float feed_freq = 5.131; // not exactly 5 to ensure that this doesn't regularly interfere with HW interface callback + float feed_freq = 1.131; // not exactly 5 to ensure that this doesn't regularly interfere with HW interface callback ros::Duration feedbackFreq = ros::Duration(1.0/feed_freq); feedbackLoop = nh.createTimer(feedbackFreq, &ArmHardwareDriver::teensyFeedback, this); @@ -52,14 +52,16 @@ void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) { ROS_INFO("timer working"); + /* if(homeFlag) { + */ //requestEEFeedback(); if(mode == jointMode) { requestJPFeedback(); } - } + // } } void ArmHardwareDriver::requestEEFeedback() @@ -102,55 +104,50 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { if(action == homeVal) { homeArm(); - } - - else if (homeFlag) - { - if(action == leftJSL) { - jointSpaceMove(left, left); - } else if (action == leftJSR) { - jointSpaceMove(left, right); - } else if (action == rightJSU) { - jointSpaceMove(right, up); - } else if (action == rightJSD) { - jointSpaceMove(right, down); - } else if (action == buttonA) { - jointSpaceMove(wrist, up); - } else if (action == buttonB) { - jointSpaceMove(wrist, left); - } else if (action == buttonX) { - jointSpaceMove(wrist, right); - } else if (action == buttonY) { - jointSpaceMove(wrist, down); - } else if (action == triggerL) { - changeAxis(down); - } else if (action == triggerR) { - changeAxis(up); - } else if (action == leftJSRel) { - releaseAxis(left, garbage); - } else if (action == rightJSRel) { - releaseAxis(right, garbage); - } else if (action == buttonARel) { - releaseAxis(wrist, up); - } else if (action == buttonBRel) { - releaseAxis(wrist, left); - } else if (action == buttonXRel) { - releaseAxis(wrist, right); - } else if (action == buttonYRel) { - releaseAxis(wrist, down); - } else if (action == arrowU) { - changeSpeed(up); - } else if (action == arrowD) { - changeSpeed(down); - } else if (action == arrowL) { - endEffector(open); - } else if (action == arrowR) { - endEffector(close); - } else if (action == arrowRLRel) { - endEffectorRel(); - } else if(action == homeValEE) { - homeEE(); - } + } else if(action == leftJSL) { + jointSpaceMove(left, left); + } else if (action == leftJSR) { + jointSpaceMove(left, right); + } else if (action == rightJSU) { + jointSpaceMove(right, up); + } else if (action == rightJSD) { + jointSpaceMove(right, down); + } else if (action == buttonA) { + jointSpaceMove(wrist, up); + } else if (action == buttonB) { + jointSpaceMove(wrist, left); + } else if (action == buttonX) { + jointSpaceMove(wrist, right); + } else if (action == buttonY) { + jointSpaceMove(wrist, down); + } else if (action == triggerL) { + changeAxis(down); + } else if (action == triggerR) { + changeAxis(up); + } else if (action == leftJSRel) { + releaseAxis(left, garbage); + } else if (action == rightJSRel) { + releaseAxis(right, garbage); + } else if (action == buttonARel) { + releaseAxis(wrist, up); + } else if (action == buttonBRel) { + releaseAxis(wrist, left); + } else if (action == buttonXRel) { + releaseAxis(wrist, right); + } else if (action == buttonYRel) { + releaseAxis(wrist, down); + } else if (action == arrowU) { + changeSpeed(up); + } else if (action == arrowD) { + changeSpeed(down); + } else if (action == arrowL) { + endEffector(open); + } else if (action == arrowR) { + endEffector(close); + } else if (action == arrowRLRel) { + endEffectorRel(); + } else if(action == homeValEE) { + homeEE(); } } @@ -355,7 +352,7 @@ void ArmHardwareDriver::recieveMsg() { char next_char; do { teensy >> next_char; - ROS_INFO("next_char: %c", next_char); + // ROS_INFO("next_char: %c", next_char); buffer << next_char; } while (next_char != 'Z'); std::string inMsg = buffer.str(); From 406ffd08ad0ceb696609849deac0bd095b88a426 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Fri, 12 Aug 2022 23:31:07 -0700 Subject: [PATCH 101/124] comp day 1 working FW --- .../src/armFirmware/armFirmware.ino | 71 +++++++++++-------- 1 file changed, 42 insertions(+), 29 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 770b2cffb..8935316df 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -135,11 +135,12 @@ bool initFlag = false; bool jointFlag = true; bool IKFlag = false; bool J1Flag = false; +bool resetEE = false; // variables for homing / arm calibration long homePosConst = -99000; long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*10, axisDir[1]*43, axisDir[2]*90, axisDir[3]*35, axisDir[4]*85, axisDir[5]*85, axisDir[6]*80, axisDir[7]*80}; +long homeCompAngles[] = {axisDir[0]*54, axisDir[1]*43, axisDir[2]*90, axisDir[3]*35, axisDir[4]*85, axisDir[5]*85, axisDir[6]*80, axisDir[7]*80}; long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; @@ -161,9 +162,6 @@ float IKaccs[] = {0.3, 0.3, 0.3, 0.3, 0.3, 0.3}; void setup() { // setup function to initialize pins and provide initial homing to the arm Serial.begin(9600); - scale.begin(dataPin, clkPin); - scale.set_scale(calibrationFactor); - scale.tare(); for(int i=0; i Date: Sat, 13 Aug 2022 10:40:54 -0700 Subject: [PATCH 102/124] comp day 2 working code --- src/teensy-firmware/src/armFirmware/armFirmware.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 8935316df..bbaba81c3 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -93,7 +93,7 @@ float ENC_STEPS_PER_DEG[NUM_AXES]; // Motor speeds and accelerations int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; -int maxAccel[8] = {1300, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int maxAccel[8] = {1300, 3500, 4600, 3300, 5000, 5000, 5000, 5000}; int homeSpeed[8] = {300, 1000, 1000, 400, 2000, 2000, 2000, 2000}; // {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; @@ -500,7 +500,7 @@ void cartesianToJointSpace() for(int i=0; i Date: Sat, 13 Aug 2022 17:04:41 -0700 Subject: [PATCH 103/124] night 2 working code, updated home position --- src/teensy-firmware/src/armFirmware/armFirmware.ino | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index bbaba81c3..b2879591d 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -65,6 +65,8 @@ int EEstepPin = 4; int EEdirPin = 3; int speedEE = 100; int accEE = 500; +int speedDrill = 3000; +int accDrill = 1000; const int MOTOR_DIR_EE = 1; const int openButton = 5; const int closeButton = 4; @@ -184,8 +186,8 @@ void setup() { // setup function to initialize pins and provide initial homing t pinMode(EEstepPin, OUTPUT); pinMode(EEdirPin, OUTPUT); endEff.setMinPulseWidth(200); - endEff.setMaxSpeed(speedEE); - endEff.setAcceleration(accEE); + endEff.setMaxSpeed(speedDrill); + endEff.setAcceleration(accDrill); endEff.setCurrentPosition(1000); // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library @@ -500,7 +502,7 @@ void cartesianToJointSpace() for(int i=0; i Date: Sat, 13 Aug 2022 10:40:02 -0700 Subject: [PATCH 104/124] Add udev rules for teensy to install script --- setup_scripts/install_dependencies.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index abdb98f63..238f50a6c 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -101,6 +101,8 @@ sudo cp $CURR_DIR/moveitjoy_module.py /opt/ros/melodic/lib/python2.7/dist-packag echo "ProController is now enabled" +wget https://www.pjrc.com/teensy/00-teensy.rules +sudo mv 00-teensy.rules /etc/udev/rules.d/ echo "================================================================" From c2d57c4f4f239e86a4c08fbb21ad213b7c0ef3a7 Mon Sep 17 00:00:00 2001 From: Roozki Date: Sat, 13 Aug 2022 11:51:33 -0700 Subject: [PATCH 105/124] eirasnt --- src/gps_waypoint_detection/CMakeLists.txt | 213 ++++++++++++++++++ src/gps_waypoint_detection/README.md | 10 + .../include/DetectWaypoint.h | 75 ++++++ .../launch/detect_waypoint.launch | 5 + src/gps_waypoint_detection/package.xml | 56 +++++ .../src/DetectWaypoint.cpp | 50 ++++ .../src/detect_waypoint.cpp | 24 ++ .../test/my-node-test.cpp | 18 ++ .../test/my_node_rostest.cpp | 68 ++++++ .../test/sample_package_test.test | 6 + 10 files changed, 525 insertions(+) create mode 100644 src/gps_waypoint_detection/CMakeLists.txt create mode 100644 src/gps_waypoint_detection/README.md create mode 100644 src/gps_waypoint_detection/include/DetectWaypoint.h create mode 100644 src/gps_waypoint_detection/launch/detect_waypoint.launch create mode 100644 src/gps_waypoint_detection/package.xml create mode 100644 src/gps_waypoint_detection/src/DetectWaypoint.cpp create mode 100644 src/gps_waypoint_detection/src/detect_waypoint.cpp create mode 100644 src/gps_waypoint_detection/test/my-node-test.cpp create mode 100644 src/gps_waypoint_detection/test/my_node_rostest.cpp create mode 100644 src/gps_waypoint_detection/test/sample_package_test.test diff --git a/src/gps_waypoint_detection/CMakeLists.txt b/src/gps_waypoint_detection/CMakeLists.txt new file mode 100644 index 000000000..d4301f5ba --- /dev/null +++ b/src/gps_waypoint_detection/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gps_waypoint_detection) + +# Build in "Release" (with lots of compiler optimizations) by default +# (If built in "Debug", some functions can take orders of magnitude longer) +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") +endif() + +add_definitions(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs +) +find_package(sb_utils REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES gps_waypoint_detection +# CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${sb_utils_INCLUDE_DIRS} + ./include +) + +## Declare a C++ library +# add_library(detect_waypoint +# src/${PROJECT_NAME}/detect_waypoint.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(sample_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(sample_package_node src/sample_package_node.cpp) +add_executable(detect_waypoint src/detect_waypoint.cpp src/DetectWaypoint.cpp include/DetectWaypoint.h) + + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(sample_package_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(sample_package_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries(detect_waypoint ${catkin_LIBRARIES} ${sb_utils_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS sample_package sample_package_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +if (CATKIN_ENABLE_TESTING) + + # Adding gtests to the package + # catkin_add_gtest(my-node-test test/my-node-test.cpp src/MyNode.cpp) + # target_link_libraries(my-node-test ${catkin_LIBRARIES}) + + # Adding rostest to the package + # find_package(rostest REQUIRED) + # name the test and link it to the .test file and the .cpp file itself, this will allow + # "catkin_make run_tests" to be able to find and run this rostest + #add_rostest_gtest(my_node_rostest test/sample_package_test.test test/my_node_rostest.cpp) + #target_link_libraries(my_node_rostest ${catkin_LIBRARIES}) +endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/gps_waypoint_detection/README.md b/src/gps_waypoint_detection/README.md new file mode 100644 index 000000000..0d768b0d7 --- /dev/null +++ b/src/gps_waypoint_detection/README.md @@ -0,0 +1,10 @@ +# Sample Package +- This package is a sample package containing a lot of examples we can point to for basic ROS concepts. +- This package contains a node which acts as a subscriber and a publisher, a common pattern used in most (if not all) ROS nodes. + +# Nodes +## my_node +- This is a sample node which appends an exclamation mark to messages it subscribes to + +### Params +- character: The character appended to the message, defaults to "!" diff --git a/src/gps_waypoint_detection/include/DetectWaypoint.h b/src/gps_waypoint_detection/include/DetectWaypoint.h new file mode 100644 index 000000000..56a1b51fa --- /dev/null +++ b/src/gps_waypoint_detection/include/DetectWaypoint.h @@ -0,0 +1,75 @@ +/* + * Created By: Gareth Ellis + * Created On: July 16th, 2016 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#ifndef GPSWAYPOINTDETECTION_DETECTWAYPOINT.H +#define GPSWAYPOINTDETECTION_DETECTWAYPOINT.H + +// STD Includes +#include + +// ROS Includes +#include +#include +#include +#include +#include + + +// Snowbots Includes +#include + +class DetectWaypoint { +public: + DetectWaypoint(int argc, char **argv, std::string node_name); + /** + * Adds an exclamation point to a given string + * + * Some Longer explanation should go here + * + * @param input_string the string to add an exclamation point to + * + * @return input_string with an exclamation point added to it + */ + +private: + /** + * Callback function for when a new string is received + * + * @param msg the string received in the callback + */ + // void subscriberCallBack(const std_msgs::String::ConstPtr& msg); + /** + * Publishes a given string + * + * @param msg_to_publish the string to publish + */ + // void republishMsg(std::string msg_to_publish); + +//waypoint # -+- -+- one two three four five six seven eight + double WaypointLatitude[8] = { -75.88 , 38.23 , 18.33 , 0 , 0 , 0 , 0 , 0 }; + double WaypointLongitude[8] = { 133.88 , -78.23 , 88.33 , 0 , 0 , 0 , 0 , 0 }; + + double current_target_lat = WaypointLatitude[0]; + double current_target_long = WaypointLongitude[0]; + + + double RoverLong = 0.00; + double RoverLat = 0.00; + ros::Subscriber coord_sub; + ros::Publisher proximity_pub; + bool pathfind = false; + ros::Publisher pathfinder; + void CoordsCallBack(const sensor_msgs::NavSatFix::ConstPtr& coords); + + double CalcProximity(double currLatitude, double currLongitude); //returns proximity in (fake) meters + + + + +}; +#endif //GPSWAYPOINTDETECTION_DETECTWAYPOINT.H diff --git a/src/gps_waypoint_detection/launch/detect_waypoint.launch b/src/gps_waypoint_detection/launch/detect_waypoint.launch new file mode 100644 index 000000000..2c27e8c75 --- /dev/null +++ b/src/gps_waypoint_detection/launch/detect_waypoint.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/src/gps_waypoint_detection/package.xml b/src/gps_waypoint_detection/package.xml new file mode 100644 index 000000000..348515c5d --- /dev/null +++ b/src/gps_waypoint_detection/package.xml @@ -0,0 +1,56 @@ + + + gps_waypoint_detection + 0.0.0 + The weewaa package + + + + + gareth + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + sb_utils + roscpp + std_msgs + sb_utils + + + + + + + + diff --git a/src/gps_waypoint_detection/src/DetectWaypoint.cpp b/src/gps_waypoint_detection/src/DetectWaypoint.cpp new file mode 100644 index 000000000..7eadd34df --- /dev/null +++ b/src/gps_waypoint_detection/src/DetectWaypoint.cpp @@ -0,0 +1,50 @@ +/* + * Created By: Gareth Ellis + * Created On: July 16th, 2016 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + +DetectWaypoint::DetectWaypoint(int argc, char **argv, std::string node_name) { + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // Obtains character from the parameter server (or launch file), sets '!' as default + std::string parameter_name = "pathfind"; + std::string default_character = "!"; + SB_getParam(private_nh, parameter_name, pathfind, false); + + // Setup Subscriber(s) + std::string topic_to_subscribe_to = "gps/fix"; + int queue_size = 10; + coord_sub = nh.subscribe( + topic_to_subscribe_to, queue_size, &DetectWaypoint::CoordsCallBack, this); + + // Setup Publisher(s) + std::string topic = private_nh.resolveName("wp_proximity"); + queue_size = 1; + proximity_pub = private_nh.advertise(topic, queue_size); +} + +void DetectWaypoint::CoordsCallBack(const sensor_msgs::NavSatFix::ConstPtr& coords) { + ROS_INFO("Received Coords"); + RoverLat = coords->latitude; + RoverLong = coords->longitude; + ROS_INFO("The coords be lookin like LAT: -- %lf --, LONG: -- %lf -- ", RoverLat, RoverLong); + DetectWaypoint::CalcProximity(RoverLat, RoverLong); + + +} + +double DetectWaypoint::CalcProximity(double currLatitude, double currLongitude){ +double distX = current_target_lat - currLatitude; +double distY = current_target_long - currLongitude; +double proximity = sqrt((distX*distX) + (distY*distY)); +ROS_INFO("proximity: %lf", proximity); + +} diff --git a/src/gps_waypoint_detection/src/detect_waypoint.cpp b/src/gps_waypoint_detection/src/detect_waypoint.cpp new file mode 100644 index 000000000..d50b81767 --- /dev/null +++ b/src/gps_waypoint_detection/src/detect_waypoint.cpp @@ -0,0 +1,24 @@ +/* + * Created By: Gareth Ellis + * Created On: July 16th, 2016 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + + +int main(int argc, char **argv){ + // Setup your ROS node + std::string node_name = "detect_waypoint"; + + // Create an instance of your class + DetectWaypoint detect_waypoint(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} \ No newline at end of file diff --git a/src/gps_waypoint_detection/test/my-node-test.cpp b/src/gps_waypoint_detection/test/my-node-test.cpp new file mode 100644 index 000000000..48e042472 --- /dev/null +++ b/src/gps_waypoint_detection/test/my-node-test.cpp @@ -0,0 +1,18 @@ +/* + * Created By: Gareth Ellis + * Created On: July 16th, 2016 + * Description: Tests for MyNode + */ + +#include +#include + +TEST(MyNode, addExclamationPoint){ + EXPECT_EQ("!", MyClass::addCharacterToString("", "!")); + EXPECT_EQ("Hello!", MyClass::addCharacterToString("Hello", "!")); +} + +int main(int argc, char **argv) { + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/src/gps_waypoint_detection/test/my_node_rostest.cpp b/src/gps_waypoint_detection/test/my_node_rostest.cpp new file mode 100644 index 000000000..f527f038e --- /dev/null +++ b/src/gps_waypoint_detection/test/my_node_rostest.cpp @@ -0,0 +1,68 @@ +/* + * Created By: Valerian Ratu + * Created On: January 29, 2017 + * Description: Integration testing for MyNode + */ + + +#include +#include +#include + + +/** + * This is the helper class which will publish and subscribe messages which will test the node being instantiated + * It contains at the minimum: + * publisher - publishes the input to the node + * subscriber - publishes the output of the node + * callback function - the callback function which corresponds to the subscriber + * getter function - to provide a way for gtest to check for equality of the message recieved + */ +class MyNodeTest : public testing::Test{ +protected: + virtual void SetUp(){ + test_publisher = nh_.advertise("subscribe_topic", 1); + test_subscriber = nh_.subscribe("/my_node/publish_topic", 1, &MyNodeTest::callback, this); + + // Let the publishers and subscribers set itself up timely + ros::Rate loop_rate(1); + loop_rate.sleep(); + } + + ros::NodeHandle nh_; + std::string message_output; + ros::Publisher test_publisher; + ros::Subscriber test_subscriber; + +public: + + void callback(const std_msgs::String::ConstPtr msg){ + message_output = msg->data.c_str(); + } +}; + +TEST_F(MyNodeTest, exclamationMarkAppend){ + + // publishes "Hello" to the test node + std_msgs::String msg; + msg.data = "Hello"; + test_publisher.publish(msg); + + // Wait for the message to get passed around + ros::Rate loop_rate(1); + loop_rate.sleep(); + + // spinOnce allows ros to actually process your callbacks + // for the curious: http://answers.ros.org/question/11887/significance-of-rosspinonce/ + ros::spinOnce(); + + EXPECT_EQ("Hello!", message_output); +} + + +int main(int argc, char **argv) { + // !! Don't forget to initialize ROS, since this is a test within the ros framework !! + ros::init(argc, argv, "my_node_rostest"); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/src/gps_waypoint_detection/test/sample_package_test.test b/src/gps_waypoint_detection/test/sample_package_test.test new file mode 100644 index 000000000..7ac091b33 --- /dev/null +++ b/src/gps_waypoint_detection/test/sample_package_test.test @@ -0,0 +1,6 @@ + + + + + + From 200211e3db3233f271d147f50c296c999e43a6a1 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 13 Aug 2022 17:02:21 -0700 Subject: [PATCH 106/124] Remove cartesian/drilling mode --- src/arm_hardware_driver/src/armHardwareDriver.cpp | 2 +- src/procontroller_snowbots/include/ProController.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index d65add639..001e6c5e4 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -361,7 +361,7 @@ void ArmHardwareDriver::recieveMsg() { if (inMsg.substr(0, 2) == "JP") { updateEncoderSteps(inMsg); encStepsToJointPos(encPos, armPos); - updateHWInterface(); + // updateHWInterface(); // check if end effector force feedback is available } else if (inMsg.substr(0, 2) == "EE") ROS_INFO("%s", inMsg.c_str()); diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 7a833063a..d43ff8eb1 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -95,7 +95,7 @@ class ProController { const char drillMode = '3'; struct libevdev* dev = NULL; - enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3, num_modes = 4 }; + enum Mode { wheels = 0, arm_joint_space = 1, arm_cartesian = 2, drilling = 3, num_modes = 2 }; Mode state; bool debug = false; ros::Publisher pubmove; From 930806a4caea60c5fe7d0d3ae9d5fa5a07678c62 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sat, 13 Aug 2022 19:19:35 -0700 Subject: [PATCH 107/124] EXPERIMENTAL: changed axes for rowan's convenience --- .../include/armHardwareDriver.h | 8 ++- .../src/armHardwareDriver.cpp | 70 ++++++++++++------- .../include/ProController.h | 10 ++- .../src/ProController.cpp | 63 +++++++++++++---- 4 files changed, 107 insertions(+), 44 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index 06827121b..f1033fa4e 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -60,10 +60,12 @@ class ArmHardwareDriver { void requestEEFeedback(); void requestJPFeedback(); void homeEE(); + void axisRelease(const char axis); + void axisMove(const char axis, const char dir); // character representations of buttons for arm communication - const char leftJSL = 'A'; - const char leftJSR = 'B'; + const char leftJSU = 'A'; + const char leftJSD = 'B'; const char rightJSU = 'C'; const char rightJSD = 'D'; const char buttonA = 'E'; @@ -89,6 +91,8 @@ class ArmHardwareDriver { const char arrowRLRel = '0'; const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; + const char rightJSPress = '7'; + const char rightJSPressRel = '8'; const char homeVal = '4'; const char homeValEE = '6'; // arm modes diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 001e6c5e4..777fe1b49 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -41,7 +41,7 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { encStepsPerDeg[i] = reductions[i] * ppr * 5.12 / 360.0; } - float feed_freq = 1.131; // not exactly 5 to ensure that this doesn't regularly interfere with HW interface callback + float feed_freq = 10.131; // not exactly 5 to ensure that this doesn't regularly interfere with HW interface callback ros::Duration feedbackFreq = ros::Duration(1.0/feed_freq); feedbackLoop = nh.createTimer(feedbackFreq, &ArmHardwareDriver::teensyFeedback, this); @@ -51,16 +51,16 @@ ArmHardwareDriver::ArmHardwareDriver(ros::NodeHandle& nh) : nh(nh) { void ArmHardwareDriver::teensyFeedback(const ros::TimerEvent& e) { - ROS_INFO("timer working"); + //ROS_INFO("timer working"); /* if(homeFlag) { */ //requestEEFeedback(); - if(mode == jointMode) - { - requestJPFeedback(); - } + //if(mode == jointMode) + //{ + //requestJPFeedback(); + //} // } } @@ -101,17 +101,20 @@ void ArmHardwareDriver::parseInput(std::string inMsg) { void ArmHardwareDriver::joint_space_motion(std::string inMsg) { char action = inMsg[1]; - if(action == homeVal) - { + if(action == homeVal) { homeArm(); - } else if(action == leftJSL) { - jointSpaceMove(left, left); - } else if (action == leftJSR) { - jointSpaceMove(left, right); + } else if(action == leftJSU) { + axisMove(J3,up); + } else if (action == leftJSD) { + axisMove(J3, down); } else if (action == rightJSU) { - jointSpaceMove(right, up); + axisMove(J2, up); } else if (action == rightJSD) { - jointSpaceMove(right, down); + axisMove(J2, down); + } else if (action == leftJSRel) { + axisRelease(J3); + } else if (action == rightJSRel) { + axisRelease(J2); } else if (action == buttonA) { jointSpaceMove(wrist, up); } else if (action == buttonB) { @@ -121,14 +124,12 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { } else if (action == buttonY) { jointSpaceMove(wrist, down); } else if (action == triggerL) { - changeAxis(down); + axisMove(J1, left); } else if (action == triggerR) { - changeAxis(up); - } else if (action == leftJSRel) { - releaseAxis(left, garbage); - } else if (action == rightJSRel) { - releaseAxis(right, garbage); - } else if (action == buttonARel) { + axisMove(J1, right); + } else if ((action == triggerLRel) || (action == triggerRRel)) { + axisRelease(J1); + } else if (action == buttonARel) { releaseAxis(wrist, up); } else if (action == buttonBRel) { releaseAxis(wrist, left); @@ -136,10 +137,12 @@ void ArmHardwareDriver::joint_space_motion(std::string inMsg) { releaseAxis(wrist, right); } else if (action == buttonYRel) { releaseAxis(wrist, down); - } else if (action == arrowU) { - changeSpeed(up); - } else if (action == arrowD) { - changeSpeed(down); + } else if(action == bumperL) { + axisMove(J4, left); + } else if(action == bumperR) { + axisMove(J4, right); + } else if((action == bumperLRel) || (action == bumperRRel)) { + axisRelease(J4); } else if (action == arrowL) { endEffector(open); } else if (action == arrowR) { @@ -196,6 +199,23 @@ void ArmHardwareDriver::jointSpaceMove(const char joystick, const char dir) { sendMsg(outMsg); } +void ArmHardwareDriver::axisMove(const char axis, const char dir) +{ + std::string outMsg = "JMT"; + outMsg += axis; + outMsg += dir; + outMsg += "\n"; + sendMsg(outMsg); +} + +void ArmHardwareDriver::axisRelease(const char axis) +{ + std::string outMsg = "JMW"; + outMsg += axis; + outMsg += "\n"; + sendMsg(outMsg); +} + void ArmHardwareDriver::changeSpeed(const char dir) { //std::string outMsg = "JM"; //outMsg = "S"; diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index d43ff8eb1..e549ad74e 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -59,8 +59,8 @@ class ProController { double z; std::string armOutMsg, armOutVal; // character representations of buttons for arm communication - const char leftJSL = 'A'; - const char leftJSR = 'B'; + const char leftJSU = 'A'; + const char leftJSD = 'B'; const char rightJSU = 'C'; const char rightJSD = 'D'; const char buttonA = 'E'; @@ -87,8 +87,14 @@ class ProController { const char arrowUDRel = '5'; const char leftJSRel = 'Y'; const char rightJSRel = 'Z'; + const char rightJSPress = '7'; + const char rightJSPressRel = '8'; const char homeVal = '4'; const char homeValEE = '6'; + const char J1 = '1'; + const char J2 = '2'; + const char J3 = '3'; + const char J4 = '4'; // arm modes const char jointMode = '1'; const char IKMode = '2'; diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 2dfa19cb1..4aec5149d 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -204,42 +204,73 @@ void ProController::leftJoystickX(int value) { if(state == Mode::wheels) { x = 0; } - - else if(state == Mode::arm_joint_space){ - armOutVal = leftJSRel; - } } else { - // 128 is the center, so this normalizes the result to // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); x = (value - 128) / 128.0 * X_SENSITIVITY; + } +} - // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick - if(state == Mode::arm_joint_space) { +// Updates x, which is then published by publish___XZ in readInputs() +void ProController::leftJoystickY(int value) { + if (value > 110 && value < 140) { + if(state == Mode::wheels) { + x = 0; + } + + else if(state == Mode::arm_joint_space){ + armOutVal = leftJSRel; + } + } else { - if(x < 0) { - armOutVal = leftJSL; + if(state == Mode::wheels) + { + // 128 is the center, so this normalizes the result to + // [-1,1]*X_SENSITIVITY + ROS_INFO("Left Joystick Y event with value: %d\n", value); + z = -(value - 128) / 128.0 * Z_SENSITIVITY; + } + else { + if(z > 0) { + armOutVal = leftJSU; } else { - armOutVal = leftJSR; + armOutVal = leftJSD; } } } } -// Updates x, which is then published by publish___XZ in readInputs() void ProController::leftJoystickY(int value) { + if (value > 110 && value < 140) { - z = 0; - } else { + + armOutVal = rightJSRel; + z = 0; + } + + else { + // 128 is the center, so this normalizes the result to - // [-1,1]*X_SENSITIVITY - ROS_INFO("Left Joystick Y event with value: %d\n", value); + // [-1,1]*Z_SENSITIVITY + ROS_INFO("Right Joystick Y event with value: %d\n", value); z = -(value - 128) / 128.0 * Z_SENSITIVITY; + + // Right joystick is only used in Y direction in all arm modes + if(state != Mode::wheels) { + + if(z > 0) { + armOutVal = rightJSU; + } + + else { + armOutVal = rightJSD; + } + } } } @@ -444,7 +475,9 @@ void ProController::leftJoystickPress(int value) { void ProController::rightJoystickPress(int value) { if (value == 1) { ROS_INFO("Right Joystick pressed"); + armOutVal = rightJSPress; } else if (value == 0) { ROS_INFO("Right Joystick released"); + armOutVal = rightJSPressRel; } } From e25676022e4a19668b4e9dd37cfe7768abe0f2ed Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 14 Aug 2022 19:28:28 -0700 Subject: [PATCH 108/124] comp night 3 experimental commit --- .../include/armHardwareDriver.h | 7 +++++++ .../src/armFirmware/armFirmware.ino | 15 ++++++++------- 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/src/arm_hardware_driver/include/armHardwareDriver.h b/src/arm_hardware_driver/include/armHardwareDriver.h index f1033fa4e..1cff3300d 100644 --- a/src/arm_hardware_driver/include/armHardwareDriver.h +++ b/src/arm_hardware_driver/include/armHardwareDriver.h @@ -95,6 +95,13 @@ class ArmHardwareDriver { const char rightJSPressRel = '8'; const char homeVal = '4'; const char homeValEE = '6'; + + const char J1 = '1'; + const char J2 = '2'; + const char J3 = '3'; + const char J4 = '4'; + const char J5 = '5'; + const char J6 = '6'; // arm modes const char jointMode = '1'; const char IKMode = '2'; diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index b2879591d..23dc02615 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -186,8 +186,8 @@ void setup() { // setup function to initialize pins and provide initial homing t pinMode(EEstepPin, OUTPUT); pinMode(EEdirPin, OUTPUT); endEff.setMinPulseWidth(200); - endEff.setMaxSpeed(speedDrill); - endEff.setAcceleration(accDrill); + endEff.setMaxSpeed(speedEE); + endEff.setAcceleration(accEE); endEff.setCurrentPosition(1000); // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library @@ -209,7 +209,8 @@ void setup() { // setup function to initialize pins and provide initial homing t //homeArm(); -waitForHome(); +//waitForHome(); +initializeMotion(); } void loop() @@ -275,7 +276,7 @@ void parseMessage(String inMsg) else if(function == "HM") { - homeArm(); + //homeArm(); } } @@ -296,7 +297,7 @@ void sendFeedback(String inMsg) else if(function == joint) { - readEncPos(curEncSteps); + //readEncPos(curEncSteps); sendCurrentPosition(); } } @@ -481,8 +482,8 @@ void depositSample() void sendCurrentPosition() { - String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("Z"); + String outMsg = String("JP") + String("A") + String(0) + String("B") + String(0) + String("C") + String(0) + + String("D") + String(0) + String("E") + String(0) + String("F") + String(0) + String("Z"); Serial.print(outMsg); } From 180df5cd237bd09c62673c485fd9b1d97833eabd Mon Sep 17 00:00:00 2001 From: Roozki <100379736+Roozki@users.noreply.github.com> Date: Tue, 9 Aug 2022 11:59:28 -0700 Subject: [PATCH 109/124] Add ROS driver for Piksi gps module (#416) * Add ROS driver for Piksi gps module Add supporting Swift Navigation Binary Library to external libs folder (libsbp) * Cleaned Up PR mistakes * More minor mistakes * Fixed name of external piksi * Told ROS to not look for libswiftnav * Fixed spelling error * fixed line 54 to make install_dependencies.sh skip libswiftnav. * fixed error in install_libspb, corrected a change directory --- .rosinstall | 1 + 1 file changed, 1 insertion(+) diff --git a/.rosinstall b/.rosinstall index a7e3cec81..87b7413b5 100644 --- a/.rosinstall +++ b/.rosinstall @@ -35,3 +35,4 @@ - git: local-name: external_libs/joycond uri: https://github.com/DanielOgorchock/joycond + From 6bfea4c9dc027c1141f649ad364af996353f9ccb Mon Sep 17 00:00:00 2001 From: Rowan Zawadzki <100379736+Roozki@users.noreply.github.com> Date: Sat, 13 Aug 2022 21:26:56 -0700 Subject: [PATCH 110/124] Arcu detection (#419) * Initialize marker and qr detection nodes * Add cv_bridge and opencv dependencies to marker_qr_detection package * Draft implementation of marker detection node * Add ROS to OpenCV helper functions and datatypes * Remove default parameter from functions and sketch QR code detection * Added launch file that sets draw_markers parameter to true * fixed spelling errors. Code is able to scan markers and relay the marker id * Now DetectMarker draws and publishes the bounding box + id to the bounding_boxes topic * just saving * just saving, work in progress * saving * hello * Added camera parameter to choose between realsense cameras. Also cleaned up and removed code * cleaned up comments * set up image saver class and header * compiled * added functionality of saving photos from eiter camera * made sure CIRC_Images is included * wee waa * remove data.cpp * Formatted source files Co-authored-by: Ihsan Olawale --- .gitignore | 2 +- .rosinstall | 3 +- docs/CIRC_Images/cam1--images/0.png | Bin 0 -> 1488808 bytes docs/CIRC_Images/cam2--images/0.png | Bin 0 -> 1273259 bytes src/cameras/CMakeLists.txt | 17 +- src/cameras/include/ImageSaver.h | 56 +++++ src/cameras/launch/image_saving.launch | 6 + src/cameras/package.xml | 11 +- src/cameras/src/ImageSaver.cpp | 94 ++++++++ src/cameras/src/image_saver.cpp | 23 ++ src/cameras/src/simple_web_pub.cpp | 51 ++++ src/marker_qr_detection/CMakeLists.txt | 226 ++++++++++++++++++ .../include/DetectMarker.h | 58 +++++ .../launch/arcu_detect.launch | 7 + src/marker_qr_detection/package.xml | 59 +++++ src/marker_qr_detection/src/DetectMarker.cpp | 87 +++++++ src/marker_qr_detection/src/detect_marker.cpp | 22 ++ 17 files changed, 716 insertions(+), 6 deletions(-) create mode 100644 docs/CIRC_Images/cam1--images/0.png create mode 100644 docs/CIRC_Images/cam2--images/0.png create mode 100644 src/cameras/include/ImageSaver.h create mode 100644 src/cameras/launch/image_saving.launch create mode 100644 src/cameras/src/ImageSaver.cpp create mode 100644 src/cameras/src/image_saver.cpp create mode 100644 src/cameras/src/simple_web_pub.cpp create mode 100644 src/marker_qr_detection/CMakeLists.txt create mode 100644 src/marker_qr_detection/include/DetectMarker.h create mode 100644 src/marker_qr_detection/launch/arcu_detect.launch create mode 100644 src/marker_qr_detection/package.xml create mode 100644 src/marker_qr_detection/src/DetectMarker.cpp create mode 100644 src/marker_qr_detection/src/detect_marker.cpp diff --git a/.gitignore b/.gitignore index 3dcb6d58a..82cbd03ba 100644 --- a/.gitignore +++ b/.gitignore @@ -8,7 +8,7 @@ CLion* clion* *~ -.swp +*.swp filter_init.txt cmake-build-debug cmake-build-release diff --git a/.rosinstall b/.rosinstall index 87b7413b5..637c9a3db 100644 --- a/.rosinstall +++ b/.rosinstall @@ -34,5 +34,4 @@ uri: 'https://github.com/nicman23/dkms-hid-nintendo' - git: local-name: external_libs/joycond - uri: https://github.com/DanielOgorchock/joycond - + uri: https://github.com/DanielOgorchock/joycond \ No newline at end of file diff --git a/docs/CIRC_Images/cam1--images/0.png b/docs/CIRC_Images/cam1--images/0.png new file mode 100644 index 0000000000000000000000000000000000000000..970808890d29804ec6c4ffcef190b0bca0f6ea41 GIT binary patch literal 1488808 zcmXtg3pkVS|NpZ&M`e;Ihgn1Wq{tM>VU^fKN+&Jn506-hip3nJBt;IR7=;SeMDfBi09)zx8p_B{9fejRW3PM)ybxMBMS2!b|}h~{<>BnEzq z{3wY8zYx@{5D0u4~t9ceh87pey~}6g#LiIj&j*6g56e@!bMAHozOls9Z~2`mfsUS#KiRQ z-M8iDdQY*drb04a_v-Jl#}nRfBaPHmt8HHUHg(MWg@UU%!6IG~y#%5|wjCA3tTD(!q}wtvL+g zOzuM>-O>S3tVHekb|dte=&ZC*Xh&+S$s9Z)Fu2 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+add_executable(ImageSaver src/ImageSaver.cpp src/image_saver.cpp include/ImageSaver.h) +target_link_libraries(ImageSaver ${catkin_LIBRARIES} ${OpenCV_LIBS} ${sb_utils_LIBRARIES}) diff --git a/src/cameras/include/ImageSaver.h b/src/cameras/include/ImageSaver.h new file mode 100644 index 000000000..0f689be57 --- /dev/null +++ b/src/cameras/include/ImageSaver.h @@ -0,0 +1,56 @@ +/* + * Created By: Ihsan Olawale, Rowan Zawadski + * Created On: July 17th, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#ifndef CAMERAS_IMAGE_SAVER_H +#define CAMERAS_IMAGE_SAVER_H + +// OpenCV +#include +#include +#include + +// Image Conversion +#include +#include +#include +#include + +// STD Includes +#include +#include + +// ROS Includes +#include +#include +#include + +// Snowbots Includes +#include + +class ImageSaver { + public: + ImageSaver(int argc, char** argv, std::string node_name); + int PicsToTake1 = 0; + int PicsToTake2 = 0; + int picCounter1 = 0; + int picCounter2 = 0; + + private: + void subscriberCallBack1(const sensor_msgs::Image::ConstPtr& img1); + void subscriberCallBack2(const sensor_msgs::Image::ConstPtr& img2); + void subscriberCallBackShutter1(const std_msgs::Int32::ConstPtr& msg); + void subscriberCallBackShutter2(const std_msgs::Int32::ConstPtr& msg); + + image_transport::Subscriber camera1_subscribe; + image_transport::Subscriber camera2_subscribe; + ros::Subscriber shutter1; // subscriber to initiate photo saving + ros::Subscriber shutter2; // subscriber to initiate photo saving + + int camera; +}; +#endif // CAMERAS_IMAGE_SAVER_H diff --git a/src/cameras/launch/image_saving.launch b/src/cameras/launch/image_saving.launch new file mode 100644 index 000000000..025277853 --- /dev/null +++ b/src/cameras/launch/image_saving.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/cameras/package.xml b/src/cameras/package.xml index accfb7e22..1daa88bcc 100644 --- a/src/cameras/package.xml +++ b/src/cameras/package.xml @@ -9,14 +9,21 @@ TODO catkin - geometry_msgs roscpp + geometry_msgs + std_msgs + sb_utils + cv_bridge + geometry_msgs + cv_bridge roscpp std_msgs + sb_utils + - \ No newline at end of file + diff --git a/src/cameras/src/ImageSaver.cpp b/src/cameras/src/ImageSaver.cpp new file mode 100644 index 000000000..2e8ac469b --- /dev/null +++ b/src/cameras/src/ImageSaver.cpp @@ -0,0 +1,94 @@ +/* + * Created By: Rowan Zawadzki + * Created On: Aug 8 2022 + * Description: A node that saves images from the realsense cameras CIRC2022 + */ + +#include + +ImageSaver::ImageSaver(int argc, char** argv, std::string node_name) { + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + image_transport::ImageTransport it(nh); + // decide which camera to save from + // std::string parameter1 = "camera"; + // SB_getParam(private_nh, parameter1, camera, 2); + // Setup Subscriber(s) + std::string cam1_topic; + std::string cam2_topic; + cam1_topic = "cam_1/color/image_raw"; + cam2_topic = "cam_2/color/image_raw"; + + std::string shutter1_topic = "shutter1_button"; + std::string shutter2_topic = "shutter2_button"; + + int queue_size = 10; + camera1_subscribe = it.subscribe( + cam1_topic, queue_size, &ImageSaver::subscriberCallBack1, this); + camera2_subscribe = it.subscribe( + cam2_topic, queue_size, &ImageSaver::subscriberCallBack2, this); + + int queue_size2 = 4; + shutter1 = nh.subscribe( + shutter1_topic, queue_size2, &ImageSaver::subscriberCallBackShutter1, this); + shutter2 = nh.subscribe( + shutter2_topic, queue_size2, &ImageSaver::subscriberCallBackShutter2, this); +} + +void ImageSaver::subscriberCallBack1(const sensor_msgs::Image::ConstPtr& img1) { + if (PicsToTake1 > 0) { + camera = 1; + + cv::Mat image; + image = cv_bridge::toCvShare(img1, "bgr8")->image; + + ROS_INFO( + "Camera %d shutter has been pushed ---%d--- time(s) so far, taking " + "photo(s) and saving to your Snowflake/docs/CIRC_Images/cam%d--images " + "file.", + camera, + picCounter1 + 1, + camera); + + cv::imwrite( + cv::format("../Snowflake/docs/CIRC_Images/cam1--images/%d.png", + picCounter1), + image); + picCounter1++; + PicsToTake1 -= 1; + void subscriberCallBack(const sensor_msgs::Image::ConstPtr& image); + } +} +void ImageSaver::subscriberCallBack2(const sensor_msgs::Image::ConstPtr& img2) { + if (PicsToTake2 > 0) { + camera = 2; + + cv::Mat image; + image = cv_bridge::toCvShare(img2, "bgr8")->image; + + ROS_INFO( + "Camera %d shutter has been pushed ---%d--- time(s) so far, taking " + "photo(s) and saving to your Snowflake/docs/CIRC_Images/cam%d--images " + "file.", + camera, + picCounter2 + 1, + camera); + + cv::imwrite( + cv::format("../Snowflake/docs/CIRC_Images/cam2--images/%d.png", + picCounter2), + image); + picCounter2++; + PicsToTake2 -= 1; + } +} +void ImageSaver::subscriberCallBackShutter1( +const std_msgs::Int32::ConstPtr& msg) { + PicsToTake1 += msg->data; +} +void ImageSaver::subscriberCallBackShutter2( +const std_msgs::Int32::ConstPtr& msg) { + PicsToTake2 += msg->data; +} diff --git a/src/cameras/src/image_saver.cpp b/src/cameras/src/image_saver.cpp new file mode 100644 index 000000000..7380c3faa --- /dev/null +++ b/src/cameras/src/image_saver.cpp @@ -0,0 +1,23 @@ +/* + * Created By: Ihsan Olawale, Rowan Zawadski + * Created On: July 17th, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#include + +int main(int argc, char** argv) { + // Setup your ROS node + std::string node_name = "image_saver"; + + // Create an instance of your class + ImageSaver image_saver(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} diff --git a/src/cameras/src/simple_web_pub.cpp b/src/cameras/src/simple_web_pub.cpp new file mode 100644 index 000000000..78a6291af --- /dev/null +++ b/src/cameras/src/simple_web_pub.cpp @@ -0,0 +1,51 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ +#include + +#include +#include +#include +//#include +#include +#include + +int main(int argc, char** argv) { + ros::init(argc, argv, "image_saver"); + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + + image_transport::CameraPublisher simp; + + ros::spin(); +} \ No newline at end of file diff --git a/src/marker_qr_detection/CMakeLists.txt b/src/marker_qr_detection/CMakeLists.txt new file mode 100644 index 000000000..360978ea2 --- /dev/null +++ b/src/marker_qr_detection/CMakeLists.txt @@ -0,0 +1,226 @@ +cmake_minimum_required(VERSION 2.8.3) +project(marker_qr_detection) + +# Build in "Release" (with lots of compiler optimizations) by default +# (If built in "Debug", some functions can take orders of magnitude longer) +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release") +endif() + +add_definitions(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + cv_bridge + sensor_msgs + image_transport +) +find_package(OpenCV REQUIRED) +find_package(sb_utils REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES marker_qr_detection +# CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${sb_utils_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ./include +) + +## Declare a C++ library +# add_library(marker_qr_detection +# src/${PROJECT_NAME}/marker_qr_detection.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(marker_qr_detection ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(marker_qr_detection_node src/sample_package_node.cpp) +add_executable(detect_marker src/detect_marker.cpp src/DetectMarker.cpp include/DetectMarker.h) + + + + + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(marker_qr_detection_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(marker_qr_detection_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries(detect_marker ${catkin_LIBRARIES} ${OpenCV_LIBS} ${sb_utils_LIBRARIES}) + + + +# add_executable(detect_qr_code src/detect_qr_code.cpp src/DetectQRCode.cpp include/DetectQRCode.h) +# target_link_libraries(detect_qr_code ${catkin_LIBRARIES} ${OpenCV_LIBS} ${sb_utils_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS marker_qr_detection sample_package_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +# if (CATKIN_ENABLE_TESTING) +# +# # Adding gtests to the package +# catkin_add_gtest(my-node-test test/my-node-test.cpp src/DetectMarker.cpp) +# target_link_libraries(my-node-test ${catkin_LIBRARIES}) +# +# # Adding rostest to the package +# find_package(rostest REQUIRED) +# # name the test and link it to the .test file and the .cpp file itself, this will allow +# # "catkin_make run_tests" to be able to find and run this rostest +# add_rostest_gtest(detect_marker_rostest test/marker_qr_detection_test.test test/detect_marker_rostest.cpp) +# target_link_libraries(detect_marker_rostest ${catkin_LIBRARIES}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/marker_qr_detection/include/DetectMarker.h b/src/marker_qr_detection/include/DetectMarker.h new file mode 100644 index 000000000..2ac28dd53 --- /dev/null +++ b/src/marker_qr_detection/include/DetectMarker.h @@ -0,0 +1,58 @@ +/* + * Created By: Ihsan Olawale, Rowan Zawadski + * Created On: July 17th, 2022 + * Description: An example node that subscribes to a topic publishing strings, + * and re-publishes everything it receives to another topic with + * a "!" at the end + */ + +#ifndef MARKER_QR_DETECTION_DETECT_MARKER_H +#define MARKER_QR_DETECTION_DETECT_MARKER_H + +// OpenCV +#include +#include + +// Image Conversion +#include +#include +#include +#include + +// STD Includes +#include +#include + +// ROS Includes +#include +#include + +// Snowbots Includes +#include + +class DetectMarker { + public: + DetectMarker(int argc, char** argv, std::string node_name); + + private: + /** + * Callback function for when a new string is received + * + * @param msg the string received in the callback + */ + void subscriberCallBack(const sensor_msgs::Image::ConstPtr& msg); + + std::vector fetchMarkerIds(const cv::Mat& image); + + cv::Mat rosToMat(const sensor_msgs::Image::ConstPtr& image); + + image_transport::Subscriber my_subscriber; + ros::Publisher my_publisher; + image_transport::Publisher bounder; + + cv::Ptr dictionary; + cv::Ptr parameters; + bool draw_markers = false; + int camera = 1; +}; +#endif // MARKER_QR_DETECTION_DETECT_MARKER_H diff --git a/src/marker_qr_detection/launch/arcu_detect.launch b/src/marker_qr_detection/launch/arcu_detect.launch new file mode 100644 index 000000000..2d002ed65 --- /dev/null +++ b/src/marker_qr_detection/launch/arcu_detect.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/marker_qr_detection/package.xml b/src/marker_qr_detection/package.xml new file mode 100644 index 000000000..5a3f6a618 --- /dev/null +++ b/src/marker_qr_detection/package.xml @@ -0,0 +1,59 @@ + + + marker_qr_detection + 0.0.0 + The marker_qr_detection package + + + + + ihsan + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + sb_utils + cv_bridge + + roscpp + std_msgs + cv_bridge + sb_utils + + + + + + + + diff --git a/src/marker_qr_detection/src/DetectMarker.cpp b/src/marker_qr_detection/src/DetectMarker.cpp new file mode 100644 index 000000000..8940c7849 --- /dev/null +++ b/src/marker_qr_detection/src/DetectMarker.cpp @@ -0,0 +1,87 @@ +/* + * Created By: Ihsan Olawale, Rowan Zawadski + * Created On: July 17th, 2022 + * Description: A node that subscribes and scans arcu codes on with the + * realsense cameras + */ + +#include + +DetectMarker::DetectMarker(int argc, char** argv, std::string node_name) { + // Setup NodeHandles + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // Setup image transport + image_transport::ImageTransport it(nh); + + // Initialize ArUco parameters + dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50); + parameters = cv::aruco::DetectorParameters::create(); + + std::string topic_to_subscribe_to; + + // Obtains draw_markers parameter from the parameter server (or launch file) + std::string parameter_name = "draw_markers"; + SB_getParam(private_nh, parameter_name, draw_markers, false); + std::string parameter_name2 = "camera"; + SB_getParam(private_nh, parameter_name2, camera, 1); + // Setup Subscriber(s) + if (camera == 1) { + topic_to_subscribe_to = "cam_1/color/raw"; + } else { + topic_to_subscribe_to = "cam_2/color/image_raw"; + } + int queue_size = 5; + my_subscriber = it.subscribe( + topic_to_subscribe_to, queue_size, &DetectMarker::subscriberCallBack, this); + + // Setup Publisher(s) + // marker id data (string) + std::string topic = private_nh.resolveName("identified"); + queue_size = 10; + my_publisher = private_nh.advertise(topic, queue_size); + + // image detection publisher + bounder = it.advertise("bounding_boxes", 1); + + ROS_INFO("initiation appears successfull."); + if (draw_markers) { + ROS_INFO("I WILL ATTEMPT TO DRAW DETECTED MARKERS"); + } else { + ROS_INFO( + "I WILL ***********NOT************* ATTEMPT TO DRAW DETECTED MARKERS"); + } +} + +void DetectMarker::subscriberCallBack(const sensor_msgs::Image::ConstPtr& msg) { + ROS_INFO("Received message"); + std::vector markerIds = fetchMarkerIds(rosToMat(msg)); + std::cout << "Markers detected:"; + for (int markerId : markerIds) { std::cout << " " << markerId; } + std::cout << std::endl; +} + +std::vector DetectMarker::fetchMarkerIds(const cv::Mat& image) { + std::vector markerIds; + std::vector> markerCorners; + cv::aruco::detectMarkers( + image, dictionary, markerCorners, markerIds, parameters); + if (draw_markers) { + cv::Mat outputImage; + image.copyTo(outputImage); + cv::aruco::drawDetectedMarkers(outputImage, markerCorners, markerIds); + bounder.publish( + cv_bridge::CvImage(std_msgs::Header(), "bgr8", outputImage) + .toImageMsg()); + ROS_INFO("attempted draw"); + } + return markerIds; +} + +cv::Mat DetectMarker::rosToMat(const sensor_msgs::Image::ConstPtr& image) { + cv_bridge::CvImagePtr image_ptr; + image_ptr = cv_bridge::toCvCopy(image, image->encoding); + return image_ptr->image; +} diff --git a/src/marker_qr_detection/src/detect_marker.cpp b/src/marker_qr_detection/src/detect_marker.cpp new file mode 100644 index 000000000..8a8881d34 --- /dev/null +++ b/src/marker_qr_detection/src/detect_marker.cpp @@ -0,0 +1,22 @@ +/* + * Created By: Ihsan Olawale, Rowan Zawadski + * Created On: July 17th, 2022 + * Description: A node that subscribes and scans arcu codes on with the + * realsense cameras + */ + +#include + +int main(int argc, char** argv) { + // Setup your ROS node + std::string node_name = "detect_marker"; + + // Create an instance of your class + DetectMarker detect_marker(argc, argv, node_name); + + // Start up ros. This will continue to run until the node is killed + ros::spin(); + + // Once the node stops, return 0 + return 0; +} From 4b9cbd78e531d9e47242508f5f2517a6f46f7f50 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Mon, 4 Jul 2022 18:16:18 -0700 Subject: [PATCH 111/124] Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node --- src/procontroller_snowbots/src/ProController.cpp | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 4aec5149d..da8fb8467 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -210,7 +210,19 @@ void ProController::leftJoystickX(int value) { // 128 is the center, so this normalizes the result to // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); - x = (value - 128) / 128.0 * X_SENSITIVITY; + z = -(value - 128) / 128.0 * Z_SENSITIVITY; + + // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick + if(state == Mode::arm_joint_space) { + + if(z > 0) { + armOutVal = leftJSL; + } + + else { + armOutVal = leftJSR; + } + } } } @@ -455,7 +467,6 @@ void ProController::arrowsUorD(int value) { } else { ROS_INFO("Down button pressed"); armOutVal = arrowD; - if (state == Mode::wheels) { speed = speed > 5 ? speed - 5 : speed; ROS_INFO("Speed increased to %d%% of max output", speed); } From a7a810019729e875a01de6d8adc665d8bfc158b1 Mon Sep 17 00:00:00 2001 From: Tate Kolton Date: Wed, 13 Jul 2022 16:51:04 -0700 Subject: [PATCH 112/124] teensy driver and firmware progress --- ...ardware_driver.cpp~tate_teensy-driver-tate | 29 + src/teensy-firmware/src/armFirmware.ino | 617 ++++++++++++++++++ 2 files changed, 646 insertions(+) create mode 100644 src/arm_hardware_driver/src/arm_hardware_driver.cpp~tate_teensy-driver-tate create mode 100644 src/teensy-firmware/src/armFirmware.ino diff --git a/src/arm_hardware_driver/src/arm_hardware_driver.cpp~tate_teensy-driver-tate b/src/arm_hardware_driver/src/arm_hardware_driver.cpp~tate_teensy-driver-tate new file mode 100644 index 000000000..5b36f73f6 --- /dev/null +++ b/src/arm_hardware_driver/src/arm_hardware_driver.cpp~tate_teensy-driver-tate @@ -0,0 +1,29 @@ +/* + * Created By: Tate Kolton + * Created On: July 4, 2022 + * Description: Node for recieving messages from pro controller and relaying them to arm hardware driver module + */ + +#include "../include/armHardwareDriver.h" +#include + +int main(int argc, char** argv) { + + + // Setup your ROS node + std::string node_name = "arm_hardware_driver"; + ros::CallbackQueue ros_queue; + ros::init(argc, argv, node_name); + ros::NodeHandle nh; + nh.setCallbackQueue(&ros_queue); + + // Create an instance of your class + ArmHardwareDriver teensyComm(nh); + + // Start up ros. This will continue to run until the node is killed + ros::MultiThreadedSpinner spinner(0); + spinner.spin(&ros_queue); + + // Once the node stops, return 0 + return 0; +} diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.ino new file mode 100644 index 000000000..fdbfb428e --- /dev/null +++ b/src/teensy-firmware/src/armFirmware.ino @@ -0,0 +1,617 @@ +/* +Created By: Tate Kolton, Rowan Zawadzki +Created On: December 21, 2021 +Updated: April 27, 2022 +Description: Main firmware for driving a 6 axis arm via ROS on a teensy 4.1 MCU +*/ + +#include + +// general parameters +#define NUM_AXES 6 +#define NUM_AXES_EX_WRIST 4 +#define NUM_AXES_EFF 8 +#define NUM_PARAMS 7 +#define ON 0 +#define OFF 1 +#define SW_ON 0 +#define SW_OFF 1 +#define FWD 1 +#define REV 0 + +int curEncSteps[NUM_AXES], cmdEncSteps[NUM_AXES]; + +static const char release = 'R'; +static const char move = 'M'; +static const char change = 'A'; +static const char speed = 'S'; +static const char right = 'R'; +static const char left = 'L'; +static const char up = 'U'; +static const char down = 'D'; +static const char wrist = 'W'; + +int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; +int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; + +// limit switch pins +int limPins[6] = {23, 22, 20, 21, 18, 19}; + +// pulses per revolution for motors +long ppr[6] = {400, 400, 400, 400, 400, 400}; + +// Gear Reduction Ratios +float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34}; + +// Encoder pulses per revolution +long pprEnc = 512; + +// Motor speeds and accelerations +int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}; +int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000}; +int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200}; +int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500}; + +// Range of motion (degrees) for each axis +int maxAngles[6] = {180, 70, 180, 120, 140, 100}; + +const unsigned long readInterval = 10; +unsigned long currentTime; +unsigned long previousTime = 0; + +// stepper motor objects for AccelStepper library +AccelStepper steppers[8]; + +// variable declarations +long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; +int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; +int currentAxis = 1; +int runFlags[] = {0, 0, 0, 0, 0, 0}; +int i; +char garbage; +bool initFlag = false; + +// variables for homing / arm calibration +long homePosConst = -99000; +long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; +long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80}; +long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500}; +long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; +long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; +char value; + +// values for changing speed +const int maxSpeedIndex = 2; +int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; +int speedIndex = maxSpeedIndex; +char faster = 'U'; +char slower = 'D'; + + +void setup() { // setup function to initialize pins and provide initial homing to the arm + + Serial.begin(9600); + + // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library + for(i = 0; i readInterval) { + commandArm() + previousTime = currentTime; + } + + runSteppers(); +} + +void commandArm() +{ + String inData = ""; + char recieved = ""; + if(Serial.available()) + { + do { + recieved = Serial.read(); + inData += recieved; + } while(recieved != '\n'); + } + + if(recieved == '\n') + { + parseMessage(inData); + } +} + +void parseMessage(String inMsg) +{ + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } + + else if(function == "JM") + { + jointCommands(inMsg); + } + + else if(function == "EE") + { + endEffectorCommands(inMsg); + } + + else if(function == "DM") + { + drillCommands(inMsg); + } + + else if(function == "HM") + { + homeArm(); + } +} + +//****//CARTESIAN MODE FUNCTIONS//****// + +void cartesianCommands() +{ + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(msg); + + // get new position commands + int msgIdxJ1 = inData.indexOf('A'); + int msgIdxJ2 = inData.indexOf('B'); + int msgIdxJ3 = inData.indexOf('C'); + int msgIdxJ4 = inData.indexOf('D'); + int msgIdxJ5 = inData.indexOf('E'); + int msgIdxJ6 = inData.indexOf('F'); + cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + stepperJoints[i].move(diffMotSteps); + } + } +} + +// parses which commands to execute when in joint space mode +void jointCommands(String inMsg) +{ + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} + +// Sets movement target positions when in joint space mode +void jointMovement(char joystick, char dir) +{ + if(joystick == wrist) + { + switch(dir) + { + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; + } + } + + else if(joystick == left) + { + switch(dir) + { + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; + } + } + + else + { + switch(dir) + { + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; + } + } +} + +//****//ENCODER RELATED FUNCTIONS//****// + +void readEncPos(int* encPos) +{ + encPos[0] = J1encPos.read() * ENC_DIR[0]; + encPos[1] = J2encPos.read() * ENC_DIR[1]; + encPos[2] = J3encPos.read() * ENC_DIR[2]; + encPos[3] = J4encPos.read() * ENC_DIR[3]; + encPos[4] = J5encPos.read() * ENC_DIR[4]; + encPos[5] = J6encPos.read() * ENC_DIR[5]; +} + +//****//JOINT SPACE MODE FUNCTIONS//****// + +// sets target position for axes in joint space mode +void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position + + if(axis == 3) { + dir = !dir; + } + + if(runFlags[axis-1] == 1 && dir == FWD) { + } + + else if(runFlags[axis-1] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]); + runFlags[axis-1] = 1; + } + + else { + steppers[axis-1].moveTo(0); + runFlags[axis-1] = -1; + } +} + +void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. + + if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions + if(runFlags[5] == 1 && dir == FWD) { + } + + else if(runFlags[5] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[6].moveTo(axisDir[6]*max_steps[5]); + steppers[7].moveTo(axisDir[7]*max_steps[5]); + runFlags[5] = 1; + } + + else { + steppers[6].moveTo(0); + steppers[7].moveTo(0); + runFlags[5] = -1; + } + } + + else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction + dir = !dir; + if(runFlags[4] == 1 && dir == FWD) { + } + + else if(runFlags[4] == -1 && dir == REV) { + } + + else if(dir == FWD) { + steppers[4].moveTo(axisDir[4]*max_steps[4]); + steppers[5].moveTo(axisDir[5]*max_steps[4]); + runFlags[4] = 1; + } + + else { + steppers[4].moveTo(0); + steppers[5].moveTo(0); + runFlags[4] = -1; + } + } +} + +void changeAxis(int dir) { // when user hits specified button, axis targets change + + if((dir == up) && (currentAxis == 1)) + { + currentAxis = 3; + zeroRunFlags(); + } + + else if((dir == down) && (currentAxis == 3)) + { + currentAxis = 1; + zeroRunFlags(); + } +} + +void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character + + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) + { + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; + } + + else + { + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; + } + } + + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } +} + +void changeSpeed(char speedVal) { // changes speed of all axes based on user input + + if(speedVal == faster){ + if(speedIndex < maxSpeedIndex) { + speedIndex++; + for(i=0;i 0) { + speedIndex--; + for(i=0;i Date: Fri, 15 Jul 2022 16:20:44 -0700 Subject: [PATCH 113/124] xbox mode implementation and hardware interface beginning --- .../src/armHardwareDriver.cpp | 11 + .../src/ProController.cpp | 6 + .../src/{armFirmware.ino => armFirmware.cpp} | 337 +++++++++--------- 3 files changed, 195 insertions(+), 159 deletions(-) rename src/teensy-firmware/src/{armFirmware.ino => armFirmware.cpp} (73%) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 777fe1b49..6c3eacfcb 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -168,6 +168,17 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { } } +void ArmHardwareDriver::cartesian_motion(std::string inMsg) +{ + char action = inMsg[1]; + + switch(action) { + case arrowL: endEffector(left); break; + case arrowR: endEffector(right); break; + case arrowRLRel: endEffectorRel(); break; + } +} + // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index da8fb8467..6537f8b34 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -197,6 +197,12 @@ void ProController::publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } +void publishArmMode(std::Boolean mode) { + std_msgs::Bool outMsgWrapper; + outMsgWrapper.data = mode; + pubmode.publish(outMsgWrapper); +} + // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { diff --git a/src/teensy-firmware/src/armFirmware.ino b/src/teensy-firmware/src/armFirmware.cpp similarity index 73% rename from src/teensy-firmware/src/armFirmware.ino rename to src/teensy-firmware/src/armFirmware.cpp index fdbfb428e..ecaddd288 100644 --- a/src/teensy-firmware/src/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware.cpp @@ -30,6 +30,9 @@ static const char left = 'L'; static const char up = 'U'; static const char down = 'D'; static const char wrist = 'W'; +static const char garbage = 'G'; +static const char faster = 'U'; +static const char slower = 'D'; int stepPins[8] = {11, 9, 5, 7, 1, 3, 1, 3}; int dirPins[8] = {10, 8, 4, 6, 0, 2, 0, 2}; @@ -68,7 +71,6 @@ int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; int currentAxis = 1; int runFlags[] = {0, 0, 0, 0, 0, 0}; int i; -char garbage; bool initFlag = false; // variables for homing / arm calibration @@ -84,8 +86,7 @@ char value; const int maxSpeedIndex = 2; int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}}; int speedIndex = maxSpeedIndex; -char faster = 'U'; -char slower = 'D'; + void setup() { // setup function to initialize pins and provide initial homing to the arm @@ -106,155 +107,170 @@ void setup() { // setup function to initialize pins and provide initial homing t void loop() { - currentTime = millis(); + currentTime = millis(); - if((currentTime - previousTime) > readInterval) { - commandArm() - previousTime = currentTime; - } + if((currentTime - previousTime) > readInterval) { + recieveCommand(); + previousTime = currentTime; + } - runSteppers(); +runSteppers(); } -void commandArm() +void recieveCommand() { - String inData = ""; - char recieved = ""; - if(Serial.available()) - { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); - } + String inData = ""; + char recieved = garbage; + if(Serial.available()>0) + { + do { + recieved = Serial.read(); + inData += String(recieved); + } while(recieved != '\n'); + } - if(recieved == '\n') - { - parseMessage(inData); - } + if(recieved == '\n') + { + parseMessage(inData); + } } void parseMessage(String inMsg) { - String function = inMsg.substring(0, 2); - - if(function == "MT") - { - cartesianCommands(inMsg); - } + String function = inMsg.substring(0, 2); + + if(function == "MT") + { + cartesianCommands(inMsg); + } - else if(function == "JM") - { - jointCommands(inMsg); - } + else if(function == "JM") + { + jointCommands(inMsg); + } - else if(function == "EE") - { - endEffectorCommands(inMsg); - } + else if(function == "EE") + { + endEffectorCommands(inMsg); + } - else if(function == "DM") - { - drillCommands(inMsg); - } + else if(function == "DM") + { + drillCommands(inMsg); + } - else if(function == "HM") - { - homeArm(); - } + else if(function == "HM") + { + homeArm(); + } } //****//CARTESIAN MODE FUNCTIONS//****// -void cartesianCommands() +void cartesianCommands(String inMsg) { - // read current joint positions - readEncPos(curEncSteps); - - // update host with joint positions - String msg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) - + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); - Serial.print(msg); - - // get new position commands - int msgIdxJ1 = inData.indexOf('A'); - int msgIdxJ2 = inData.indexOf('B'); - int msgIdxJ3 = inData.indexOf('C'); - int msgIdxJ4 = inData.indexOf('D'); - int msgIdxJ5 = inData.indexOf('E'); - int msgIdxJ6 = inData.indexOf('F'); - cmdEncSteps[0] = inData.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); - cmdEncSteps[1] = inData.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); - cmdEncSteps[2] = inData.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); - cmdEncSteps[3] = inData.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); - cmdEncSteps[4] = inData.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); - cmdEncSteps[5] = inData.substring(msgIdxJ6 + 1).toInt(); - - // update target joint positions - readEncPos(curEncSteps); - for (int i = 0; i < NUM_AXES; i++) - { - int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; - if (abs(diffEncSteps) > 2) - { - int diffMotSteps = diffEncSteps / ENC_MULT[i]; - if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) - { - // for the last rev of motor, introduce artificial decceleration - // to help prevent overshoot - diffMotSteps = diffMotSteps / 2; - } - stepperJoints[i].move(diffMotSteps); - } + // read current joint positions + readEncPos(curEncSteps); + + // update host with joint positions + sendCurrentPosition(); + + // get new position commands + int msgIdxJ1 = inMsg.indexOf('A'); + int msgIdxJ2 = inMsg.indexOf('B'); + int msgIdxJ3 = inMsg.indexOf('C'); + int msgIdxJ4 = inMsg.indexOf('D'); + int msgIdxJ5 = inMsg.indexOf('E'); + int msgIdxJ6 = inMsg.indexOf('F'); + cmdEncSteps[0] = inMsg.substring(msgIdxJ1 + 1, msgIdxJ2).toInt(); + cmdEncSteps[1] = inMsg.substring(msgIdxJ2 + 1, msgIdxJ3).toInt(); + cmdEncSteps[2] = inMsg.substring(msgIdxJ3 + 1, msgIdxJ4).toInt(); + cmdEncSteps[3] = inMsg.substring(msgIdxJ4 + 1, msgIdxJ5).toInt(); + cmdEncSteps[4] = inMsg.substring(msgIdxJ5 + 1, msgIdxJ6).toInt(); + cmdEncSteps[5] = inMsg.substring(msgIdxJ6 + 1).toInt(); + + // update target joint positions + readEncPos(curEncSteps); + for (int i = 0; i < NUM_AXES; i++) + { + int diffEncSteps = cmdEncSteps[i] - curEncSteps[i]; + if (abs(diffEncSteps) > 2) + { + int diffMotSteps = diffEncSteps / ENC_MULT[i]; + if (diffMotSteps < MOTOR_STEPS_PER_REV[i]) + { + // for the last rev of motor, introduce artificial decceleration + // to help prevent overshoot + diffMotSteps = diffMotSteps / 2; + } + steppers[i].move(diffMotSteps); } + } } // parses which commands to execute when in joint space mode void jointCommands(String inMsg) { - char function = inMsg[2]; - char detail1 = inMsg[3]; + char function = inMsg[2]; + char detail1 = inMsg[3]; + + switch(function) + { + case release: releaseEvent(detail1, inMsg[4]); break; + case speed: changeSpeed(detail1); break; + case axis: changeAxis(detail1); break; + case move: jointMovement(detail1, inMsg[4]); break; + } +} - switch(function) - { - case release: releaseEvent(detail1, inMsg[4]); break; - case speed: changeSpeed(detail1); break; - case axis: changeAxis(detail1); break; - case move: jointMovement(detail1, inMsg[4]); break; - } +void endEffectorCommands(String inMsg) +{ + // fill with end effector commands depending on substring +} + +void drillMotion(String inMsg) +{ + // fill with calls to drill functions depending on substring +} + +void sendCurrentPosition() +{ + String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("\n"); + Serial.print(outMsg); } // Sets movement target positions when in joint space mode void jointMovement(char joystick, char dir) { - if(joystick == wrist) + if(joystick == wrist) + { + switch(dir) { - switch(dir) - { - case up: runWrist(FWD, 5); break; - case down: runWrist(REV, 5); break; - case left: runWrist(FWD, 6); break; - case right: runWrist(REV, 6); break; - } + case up: runWrist(FWD, 5); break; + case down: runWrist(REV, 5); break; + case left: runWrist(FWD, 6); break; + case right: runWrist(REV, 6); break; } + } - else if(joystick == left) + else if(joystick == left) + { + switch(dir) { - switch(dir) - { - case left: runAxes(FWD, currentAxis); break; - case right: runAxes(REV, currentAxis); break; - } + case left: runAxes(FWD, currentAxis); break; + case right: runAxes(REV, currentAxis); break; } + } - else + else + { + switch(dir) { - switch(dir) - { - case up: runAxes(FWD, currentAxis+1); break; - case down: runAxes(REV, currentAxis+1); break; - } + case up: runAxes(FWD, currentAxis+1); break; + case down: runAxes(REV, currentAxis+1); break; } + } } //****//ENCODER RELATED FUNCTIONS//****// @@ -356,34 +372,34 @@ void changeAxis(int dir) { // when user hits specified button, axis targets chan void releaseEvent(char joystick, char dir) { // when user releases a joystick serial sends a character - if(joystick == wrist) + if(joystick == wrist) + { + if ((dir == up) || (dir == down)) { - if ((dir == up) || (dir == down)) - { - steppers[6].stop(); - steppers[7].stop(); - runFlags[5] = 0; - } - - else - { - steppers[4].stop(); - steppers[5].stop(); - runFlags[4] = 0; - } + steppers[6].stop(); + steppers[7].stop(); + runFlags[5] = 0; } - else if(joystick == left) + else { - steppers[currentAxis-1].stop(); - runFlags[currentAxis-1].stop(); + steppers[4].stop(); + steppers[5].stop(); + runFlags[4] = 0; } + } - else - { - steppers[currentAxis].stop(); - runFlags[currentAxis].stop(); - } + else if(joystick == left) + { + steppers[currentAxis-1].stop(); + runFlags[currentAxis-1].stop(); + } + + else + { + steppers[currentAxis].stop(); + runFlags[currentAxis].stop(); + } } void changeSpeed(char speedVal) { // changes speed of all axes based on user input @@ -418,13 +434,6 @@ void zeroRunFlags() { // when user changes axis to control on switch, slow curre } } - - - - - - - //****// ARM CALIBRATION FUNCTIONS//****// void homeArm() { // main function for full arm homing @@ -433,6 +442,7 @@ void homeArm() { // main function for full arm homing initializeHomingMotion(); homeBase(); initializeMotion(); + sendCurrentPosition(); } void homeBase() { // homes axes 1-4 @@ -591,27 +601,36 @@ void runSteppers() { // runs all stepper motors (if no target position has been void waitForHome() { // stops arm motion until user homes arm after firmware is flashed - String inData = ""; - char recieved = ""; - bool initFlag = false; - while(!initFlag) { - - if(Serial.available()) + String inData = ""; + char recieved; + bool initFlag = false; + bool serialFlag = false; + + while(!initFlag) { + + if(Serial.available() > 0) + { + recieved = Serial.read(); + inData += String(recieved) + if(recieved == '\n') + { + serialFlag = true; + } + } + + if(serialFlag) + { + if(inData = "HM") { - do { - recieved = Serial.read(); - inData += recieved; - } while(recieved != '\n'); + homeArm(); + initFlag = true; } - if(recieved == '\n') + else { - if(inData = "HM") - { - homeArm(); - initFlag = true; - } + inData = ""; + serialFlag = false; } - delay(readInterval); } + } } \ No newline at end of file From c7a39217412e19724dc7267609451010de4692c3 Mon Sep 17 00:00:00 2001 From: Ihsan Olawale Date: Mon, 25 Jul 2022 12:42:36 -0700 Subject: [PATCH 114/124] Add ability to toggle usage of MoveIt --- src/procontroller_snowbots/src/ProController.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 6537f8b34..da8fb8467 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -197,12 +197,6 @@ void ProController::publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } -void publishArmMode(std::Boolean mode) { - std_msgs::Bool outMsgWrapper; - outMsgWrapper.data = mode; - pubmode.publish(outMsgWrapper); -} - // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { From 2156e34735bae5f0a326f718a9b62b6f18be50f2 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 1 Aug 2022 11:40:05 -0700 Subject: [PATCH 115/124] Fix install script --- .rosinstall | 2 +- setup_scripts/install_dependencies.sh | 21 +++++++++------------ 2 files changed, 10 insertions(+), 13 deletions(-) diff --git a/.rosinstall b/.rosinstall index 637c9a3db..a7e3cec81 100644 --- a/.rosinstall +++ b/.rosinstall @@ -34,4 +34,4 @@ uri: 'https://github.com/nicman23/dkms-hid-nintendo' - git: local-name: external_libs/joycond - uri: https://github.com/DanielOgorchock/joycond \ No newline at end of file + uri: https://github.com/DanielOgorchock/joycond diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index 238f50a6c..c19139e97 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -60,10 +60,7 @@ cd $CURR_DIR # sudo ./setup_realsense_manual.sh cd $CURR_DIR -sudo ./install_phidgets.sh -cd $CURR_DIR -sudo ./install_libsbp.sh -cd $CURR_DIR +# sudo ./install_phidgets.sh echo "================================================================" echo "Installing Misc. Utilities" @@ -77,13 +74,13 @@ echo "================================================================" echo "Installing Robotic Arm Dependencies" echo "================================================================" -echo "Upgrading CMake" -sudo apt-get install wget -y -sudo apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y -wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' -sudo apt-get update -sudo apt-get install cmake -y +# echo "Upgrading CMake" +# apt-get install wget +# apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget -y +# wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add +# apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' +# apt-get update +# apt-get install cmake echo "Installing Nintendo HID kernel module" @@ -93,7 +90,7 @@ sudo dkms add . && sudo dkms build nintendo -v 3.2 && sudo dkms install nintendo echo "the Joycond Linux Daemon" -sudo apt-get install libevdev-dev libudev-dev -y +sudo apt-get install libudev-dev -y cd $CURR_DIR/../external_libs/joycond && \ cmake . && sudo make install && sudo systemctl enable --now joycond From f33485f856e1abde8a8f55f98d4a05fb4078eecb Mon Sep 17 00:00:00 2001 From: Ihsan Olawale <43079005+ihsan314@users.noreply.github.com> Date: Mon, 8 Aug 2022 13:33:46 -0700 Subject: [PATCH 116/124] Invert controller axes in wheel mode and make speed adjustable (#421) * Swap X & Y axes on left joystick in wheel mode * Move setup call and use ROS_DEBUG when debug is set to true * Change speed of rover via arrowbuttons * Format ProController.cpp Co-authored-by: TateKolton --- src/procontroller_snowbots/src/ProController.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index da8fb8467..a8ebe2f71 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -210,7 +210,7 @@ void ProController::leftJoystickX(int value) { // 128 is the center, so this normalizes the result to // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); - z = -(value - 128) / 128.0 * Z_SENSITIVITY; + x = (value - 128) / 128.0 * X_SENSITIVITY; // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick if(state == Mode::arm_joint_space) { @@ -467,6 +467,7 @@ void ProController::arrowsUorD(int value) { } else { ROS_INFO("Down button pressed"); armOutVal = arrowD; + if (state == Mode::wheels) { speed = speed > 5 ? speed - 5 : speed; ROS_INFO("Speed increased to %d%% of max output", speed); } From eefc1917c2e1e13dcb096e9bc9a459e9b005839e Mon Sep 17 00:00:00 2001 From: Roozki <100379736+Roozki@users.noreply.github.com> Date: Tue, 9 Aug 2022 11:59:28 -0700 Subject: [PATCH 117/124] Add ROS driver for Piksi gps module (#416) * Add ROS driver for Piksi gps module Add supporting Swift Navigation Binary Library to external libs folder (libsbp) * Cleaned Up PR mistakes * More minor mistakes * Fixed name of external piksi * Told ROS to not look for libswiftnav * Fixed spelling error * fixed line 54 to make install_dependencies.sh skip libswiftnav. * fixed error in install_libspb, corrected a change directory --- .rosinstall | 1 + setup_scripts/install_dependencies.sh | 5 ++++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.rosinstall b/.rosinstall index a7e3cec81..87b7413b5 100644 --- a/.rosinstall +++ b/.rosinstall @@ -35,3 +35,4 @@ - git: local-name: external_libs/joycond uri: https://github.com/DanielOgorchock/joycond + diff --git a/setup_scripts/install_dependencies.sh b/setup_scripts/install_dependencies.sh index c19139e97..60bf942d7 100755 --- a/setup_scripts/install_dependencies.sh +++ b/setup_scripts/install_dependencies.sh @@ -60,7 +60,10 @@ cd $CURR_DIR # sudo ./setup_realsense_manual.sh cd $CURR_DIR -# sudo ./install_phidgets.sh +sudo ./install_phidgets.sh +cd $CURR_DIR +sudo ./install_libsbp.sh +cd $CURR_DIR echo "================================================================" echo "Installing Misc. Utilities" From c76f3bd6f2bd85546c0b767a580ef8421b6a7b77 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 14 Aug 2022 19:18:55 -0700 Subject: [PATCH 118/124] Fix topic subscription in markers --- src/marker_qr_detection/src/DetectMarker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/marker_qr_detection/src/DetectMarker.cpp b/src/marker_qr_detection/src/DetectMarker.cpp index 8940c7849..12309c2af 100644 --- a/src/marker_qr_detection/src/DetectMarker.cpp +++ b/src/marker_qr_detection/src/DetectMarker.cpp @@ -29,7 +29,7 @@ DetectMarker::DetectMarker(int argc, char** argv, std::string node_name) { SB_getParam(private_nh, parameter_name2, camera, 1); // Setup Subscriber(s) if (camera == 1) { - topic_to_subscribe_to = "cam_1/color/raw"; + topic_to_subscribe_to = "cam_1/color/image_raw"; } else { topic_to_subscribe_to = "cam_2/color/image_raw"; } From 4040f362c636fe30d220d34dc9f5cbdb7899e4e6 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 14 Aug 2022 21:42:32 -0700 Subject: [PATCH 119/124] Resolve compile errors from rebasing --- .../src/armHardwareDriver.cpp | 11 ----- .../src/ProController.cpp | 41 ------------------- 2 files changed, 52 deletions(-) diff --git a/src/arm_hardware_driver/src/armHardwareDriver.cpp b/src/arm_hardware_driver/src/armHardwareDriver.cpp index 6c3eacfcb..777fe1b49 100644 --- a/src/arm_hardware_driver/src/armHardwareDriver.cpp +++ b/src/arm_hardware_driver/src/armHardwareDriver.cpp @@ -168,17 +168,6 @@ void ArmHardwareDriver::cartesian_motion(std::string inMsg) { } } -void ArmHardwareDriver::cartesian_motion(std::string inMsg) -{ - char action = inMsg[1]; - - switch(action) { - case arrowL: endEffector(left); break; - case arrowR: endEffector(right); break; - case arrowRLRel: endEffectorRel(); break; - } -} - // Sends drilling mode related commands to teensy void ArmHardwareDriver::drill_motion(std::string inMsg) { char action = inMsg.at(1); diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index a8ebe2f71..8b047de1d 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -211,18 +211,6 @@ void ProController::leftJoystickX(int value) { // [-1,1]*Z_SENSITIVITY ROS_INFO("Left Joystick X event with value: %d\n", value); x = (value - 128) / 128.0 * X_SENSITIVITY; - - // Left joystick is only used in x direction in arm joint space mode. Drilling / cartesion mode do not use this joystick - if(state == Mode::arm_joint_space) { - - if(z > 0) { - armOutVal = leftJSL; - } - - else { - armOutVal = leftJSR; - } - } } } @@ -257,35 +245,6 @@ void ProController::leftJoystickY(int value) { } } -void ProController::leftJoystickY(int value) { - - if (value > 110 && value < 140) { - - armOutVal = rightJSRel; - z = 0; - } - - else { - - // 128 is the center, so this normalizes the result to - // [-1,1]*Z_SENSITIVITY - ROS_INFO("Right Joystick Y event with value: %d\n", value); - z = -(value - 128) / 128.0 * Z_SENSITIVITY; - - // Right joystick is only used in Y direction in all arm modes - if(state != Mode::wheels) { - - if(z > 0) { - armOutVal = rightJSU; - } - - else { - armOutVal = rightJSD; - } - } - } -} - // Currently doing nothing void ProController::rightJoystickX(int value) { if (value > 118 && value < 137) { From 5ee6f4359018575772a7866fe3e0d3deefa9e0f5 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 14 Aug 2022 21:31:49 -0700 Subject: [PATCH 120/124] stash --- src/teensy-firmware/src/armFirmware/armFirmware.ino | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 23dc02615..7a1581625 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -209,8 +209,7 @@ void setup() { // setup function to initialize pins and provide initial homing t //homeArm(); -//waitForHome(); -initializeMotion(); +waitForHome(); } void loop() @@ -276,7 +275,7 @@ void parseMessage(String inMsg) else if(function == "HM") { - //homeArm(); + homeArm(); } } @@ -297,7 +296,7 @@ void sendFeedback(String inMsg) else if(function == joint) { - //readEncPos(curEncSteps); + readEncPos(curEncSteps); sendCurrentPosition(); } } @@ -482,8 +481,8 @@ void depositSample() void sendCurrentPosition() { - String outMsg = String("JP") + String("A") + String(0) + String("B") + String(0) + String("C") + String(0) - + String("D") + String(0) + String("E") + String(0) + String("F") + String(0) + String("Z"); + String outMsg = String("JP") + String("A") + String(curEncSteps[0]) + String("B") + String(curEncSteps[1]) + String("C") + String(curEncSteps[2]) + + String("D") + String(curEncSteps[3]) + String("E") + String(curEncSteps[4]) + String("F") + String(curEncSteps[5]) + String("Z"); Serial.print(outMsg); } From 6a7c03cd6205a49d4800a1e2b325023498a720a0 Mon Sep 17 00:00:00 2001 From: TateKolton Date: Sun, 14 Aug 2022 22:06:45 -0700 Subject: [PATCH 121/124] update --- src/procontroller_snowbots/src/ProController.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 8b047de1d..8e0224298 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -218,7 +218,7 @@ void ProController::leftJoystickX(int value) { void ProController::leftJoystickY(int value) { if (value > 110 && value < 140) { if(state == Mode::wheels) { - x = 0; + z = 0; } else if(state == Mode::arm_joint_space){ @@ -234,7 +234,7 @@ void ProController::leftJoystickY(int value) { z = -(value - 128) / 128.0 * Z_SENSITIVITY; } else { - if(z > 0) { + if(z < 0) { armOutVal = leftJSU; } @@ -257,9 +257,9 @@ void ProController::rightJoystickX(int value) { void ProController::rightJoystickY(int value) { if (value > 118 && value < 137) { - - armOutVal = rightJSRel; - } + if(mode != Mode::wheels) + armOutVal = rightJSRel; + } else { From 02adb0a7fdcaae5c39d91a8f6c0eefcf0181e4de Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 22 Aug 2022 19:22:12 -0700 Subject: [PATCH 122/124] competition-firmware --- .../src/armFirmware/armFirmware.ino | 132 ++++++++++-------- 1 file changed, 77 insertions(+), 55 deletions(-) diff --git a/src/teensy-firmware/src/armFirmware/armFirmware.ino b/src/teensy-firmware/src/armFirmware/armFirmware.ino index 7a1581625..2002cde82 100644 --- a/src/teensy-firmware/src/armFirmware/armFirmware.ino +++ b/src/teensy-firmware/src/armFirmware/armFirmware.ino @@ -43,6 +43,10 @@ static const char close = 'C'; static const char joint = 'J'; static const char EEval = 'E'; static const char homeValEE = 'H'; +static const char moveBase = 'T'; +static const char moveWrist = 'M'; +static const char relWrist = 'R'; +static const char relBase = 'W'; // Motor variables int stepPins[8] = {6, 8, 10, 2, 12, 25, 12, 25}; @@ -138,16 +142,18 @@ bool jointFlag = true; bool IKFlag = false; bool J1Flag = false; bool resetEE = false; +bool vertFlag = false; +bool horizFlag = false; // variables for homing / arm calibration long homePosConst = -99000; long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst}; -long homeCompAngles[] = {axisDir[0]*54, axisDir[1]*43, axisDir[2]*90, axisDir[3]*35, axisDir[4]*85, axisDir[5]*85, axisDir[6]*80, axisDir[7]*80}; +long homeCompAngles[] = {axisDir[0]*54, axisDir[1]*10, axisDir[2]*90, axisDir[3]*1, axisDir[4]*85, axisDir[5]*85, axisDir[6]*170, axisDir[7]*170}; long homeCompConst[] = {500, 2000, 1000, 500, 500, 500, 500, 500}; long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]}; long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0}; // Range of motion (degrees) for each axis -int maxAngles[6] = {190, 160, 180, 120, 150, 180}; +int maxAngles[6] = {190, 160, 180, 120, 160, 180}; long max_steps[] = {axisDir[0]*red[0]*maxAngles[0]/360.0*ppr[0], axisDir[1]*red[1]*maxAngles[1]/360.0*ppr[1], axisDir[2]*red[2]*maxAngles[2]/360.0*ppr[2], axisDir[3]*red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]}; long min_steps[NUM_AXES]; char value; @@ -207,8 +213,6 @@ void setup() { // setup function to initialize pins and provide initial homing t } // waits for user to press "home" button before rest of functions are available - -//homeArm(); waitForHome(); } @@ -288,13 +292,8 @@ void sendMessage(char outChar) void sendFeedback(String inMsg) { char function = inMsg[2]; - - if(function == EEval) - { - sendEEForce(); - } - else if(function == joint) + if(function == joint) { readEncPos(curEncSteps); sendCurrentPosition(); @@ -369,15 +368,74 @@ void jointCommands(String inMsg) jointFlag = true; } - if(function == release) - releaseEvent(detail1, inMsg[4]); - else if(function == speed) - changeSpeed(detail1); - else if(function == change) - changeAxis(detail1); - else if(function == move) - jointMovement(detail1, inMsg[4]); +if(function == moveBase) + moveArmBase(detail1, inMsg[4]); +else if(function == moveWrist) +{ + char dir = inMsg[4]; + if(dir == up) + runWrist(FWD, 6); + else if(dir == down) + runWrist(REV, 6); + else if(dir == left) + runWrist(FWD, 5); + else if(dir == right) + runWrist(REV, 5); +} +else if(function == relBase) + relArmBase(detail1); +else if(function == relWrist) + releaseEvent(detail1, inMsg[4]); +} + +void moveArmBase(char axis, char dir) +{ + int axisNum = String(axis).toInt(); + + if(axisNum == 3) + axisNum = 4; + + else if(axisNum == 4) + axisNum = 3; + + if((dir == left) || (dir == up)) + { + moveBaseAxis((axisNum-1), FWD); + } + else if((dir == right) || (dir == down)) + { + moveBaseAxis((axisNum-1), REV); + } +} + +void relArmBase(char axis) +{ + int axisNum = String(axis).toInt(); + + if(axisNum == 3) + axisNum = 4; + + else if(axisNum == 4) + axisNum = 3; + + steppers[axisNum-1].stop(); +} + +void moveBaseAxis(int axis, int dir) +{ + if((axis == 0) || (axis == 1)) { + dir = !dir; + } + + if(dir == FWD) { + steppers[axis].moveTo(max_steps[axis]); + runFlags[axis] = 1; } +else if (dir == REV) { + steppers[axis].moveTo(min_steps[axis]); + runFlags[axis] = -1; + } +} void endEffectorCommands(String inMsg) { @@ -1011,42 +1069,6 @@ void runSteppersIK() { // runs all stepper motors (if no target position has bee endEff.run(); } -//void waitForHome() { // stops arm motion until user homes arm after firmware is flashed -// -// String inData = ""; -// char recieved; -// bool initFlag = false; -// bool serialFlag = false; -// -// while(!initFlag) { -// -// if(Serial.available() > 0) -// { -// recieved = Serial.read(); -// inData += String(recieved); -// if(recieved == '\n') -// { -// serialFlag = true; -// } -// } -// -// if(serialFlag) -// { -// if(inData.substring(0, 2) = "HM") -// { -// homeArm(); -// initFlag = true; -// } -// -// else -// { -// inData = ""; -// serialFlag = false; -// } -// } -// } -//} - void waitForHome() { String inData; @@ -1072,4 +1094,4 @@ void waitForHome() } } -// updated 12:08 on tuesday +// updated aug 22, 2022 From aa4283af27f69edeed99997161c8508da7596d9d Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 15 Aug 2022 02:59:32 -0700 Subject: [PATCH 123/124] Fix left joystick logic and modularize deadzone --- .../include/ProController.h | 1 + .../src/ProController.cpp | 37 +++++++++---------- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index e549ad74e..1937b1cc2 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -29,6 +29,7 @@ class ProController { private: void setup(); void readInputs(); + bool inDeadzone(int value); void leftJoystickX(int value); // ABS_X void leftJoystickY(int value); // ABS_Y void rightJoystickX(int value); // ABS_RX diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 8e0224298..153c6c7b6 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -197,10 +197,14 @@ void ProController::publishArmMessage(std::string outMsg) { pubarm.publish(outMsgWrapper); } +bool ProController::inDeadzone(int value) { + return value > 108 && value < 148; +} + // Updates z, which is then published by publish___XZ in readInputs() void ProController::leftJoystickX(int value) { - if (value > 110 && value < 140) { + if (inDeadzone(value)) { if(state == Mode::wheels) { x = 0; } @@ -216,7 +220,7 @@ void ProController::leftJoystickX(int value) { // Updates x, which is then published by publish___XZ in readInputs() void ProController::leftJoystickY(int value) { - if (value > 110 && value < 140) { + if (inDeadzone(value)) { if(state == Mode::wheels) { z = 0; } @@ -226,28 +230,23 @@ void ProController::leftJoystickY(int value) { } } else { - if(state == Mode::wheels) - { - // 128 is the center, so this normalizes the result to - // [-1,1]*X_SENSITIVITY - ROS_INFO("Left Joystick Y event with value: %d\n", value); - z = -(value - 128) / 128.0 * Z_SENSITIVITY; + // 128 is the center, so this normalizes the result to + // [-1,1]*X_SENSITIVITY + ROS_INFO("Left Joystick Y event with value: %d\n", value); + z = -(value - 128) / 128.0 * Z_SENSITIVITY; + if(z < 0) { + armOutVal = leftJSU; } - else { - if(z < 0) { - armOutVal = leftJSU; - } - else { - armOutVal = leftJSD; - } + else { + armOutVal = leftJSD; } } } // Currently doing nothing void ProController::rightJoystickX(int value) { - if (value > 118 && value < 137) { + if (inDeadzone(value)) { // do nothing } else { ROS_INFO("Right Joystick X event with value: %d\n", value); @@ -256,8 +255,8 @@ void ProController::rightJoystickX(int value) { void ProController::rightJoystickY(int value) { - if (value > 118 && value < 137) { - if(mode != Mode::wheels) + if (inDeadzone(value)) { + if(state != Mode::wheels) armOutVal = rightJSRel; } @@ -271,7 +270,7 @@ void ProController::rightJoystickY(int value) { // Right joystick is only used in Y direction in all arm modes if(state != Mode::wheels) { - if(z > 0) { + if(z < 0) { armOutVal = rightJSU; } From 0376620d37ef256653ff88a4e9f07bdeebd2ea1e Mon Sep 17 00:00:00 2001 From: TateKolton Date: Mon, 15 Aug 2022 06:36:37 -0700 Subject: [PATCH 124/124] Controller improvements in deadzone and wheel speed --- src/procontroller_snowbots/include/ProController.h | 2 ++ src/procontroller_snowbots/src/ProController.cpp | 12 ++++++------ 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/procontroller_snowbots/include/ProController.h b/src/procontroller_snowbots/include/ProController.h index 1937b1cc2..cd6180d52 100644 --- a/src/procontroller_snowbots/include/ProController.h +++ b/src/procontroller_snowbots/include/ProController.h @@ -113,6 +113,8 @@ class ProController { std_msgs::Bool true_message; std_msgs::Bool false_message; int speed = 50; + int max_speed = 100; + int increment = 10; }; #endif // PROCONTROLLER_SNOWBOTS_CONTROLLER_H diff --git a/src/procontroller_snowbots/src/ProController.cpp b/src/procontroller_snowbots/src/ProController.cpp index 153c6c7b6..f6cb159a4 100755 --- a/src/procontroller_snowbots/src/ProController.cpp +++ b/src/procontroller_snowbots/src/ProController.cpp @@ -198,7 +198,7 @@ void ProController::publishArmMessage(std::string outMsg) { } bool ProController::inDeadzone(int value) { - return value > 108 && value < 148; + return state == Mode::wheels ? value > 108 && value < 148 : value > 88 && value < 168 ; } // Updates z, which is then published by publish___XZ in readInputs() @@ -234,7 +234,7 @@ void ProController::leftJoystickY(int value) { // [-1,1]*X_SENSITIVITY ROS_INFO("Left Joystick Y event with value: %d\n", value); z = -(value - 128) / 128.0 * Z_SENSITIVITY; - if(z < 0) { + if(z > 0) { armOutVal = leftJSU; } @@ -270,7 +270,7 @@ void ProController::rightJoystickY(int value) { // Right joystick is only used in Y direction in all arm modes if(state != Mode::wheels) { - if(z < 0) { + if(z > 0) { armOutVal = rightJSU; } @@ -416,7 +416,7 @@ void ProController::arrowsUorD(int value) { ROS_INFO("Up button pressed"); armOutVal = arrowU; if (state == Mode::wheels) { - speed = speed < 100 ? speed + 5 : speed; + speed = speed < max_speed ? speed + increment : speed; ROS_INFO("Speed increased to %d%% of max output", speed); } } else if (value == 0) { @@ -426,8 +426,8 @@ void ProController::arrowsUorD(int value) { ROS_INFO("Down button pressed"); armOutVal = arrowD; if (state == Mode::wheels) { - speed = speed > 5 ? speed - 5 : speed; - ROS_INFO("Speed increased to %d%% of max output", speed); + speed = speed > increment ? speed - increment : speed; + ROS_INFO("Speed decreased to %d%% of max output", speed); } } }

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