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Nandan Tumu
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Nov 10, 2017
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#include <ros.h> | ||
#include <std_msgs/Bool.h> | ||
#include <std_msgs/String.h> | ||
#include <std_msgs/Int32.h> | ||
#include <std_msgs/Empty.h> | ||
#include <ac_msgs/drive_values.h> | ||
ros::NodeHandle nh; | ||
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boolean flagStop = false; | ||
int pwm_center_value = 9830; // 15% duty cycle | ||
int pwm_lowerlimit = 6554; // 10% duty cycle | ||
int pwm_upperlimit = 13108; // 20% duty cycle | ||
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std_msgs::Int32 str_msg; | ||
ros::Publisher chatter("chatter", &str_msg); | ||
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int kill_pin = 2; | ||
unsigned long duration = 0; | ||
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void messageDrive( const drive_msgs::drive_values& pwm ) | ||
{ | ||
// Serial.print("Pwm drive : "); | ||
// Serial.println(pwm.pwm_drive); | ||
// Serial.print("Pwm angle : "); | ||
// Serial.println(pwm.pwm_angle); | ||
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if(flagStop == false) | ||
{ | ||
str_msg.data = pwm.pwm_drive; | ||
chatter.publish( &str_msg ); | ||
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if(pwm.pwm_drive < pwm_lowerlimit) | ||
{ | ||
analogWrite(5,pwm_lowerlimit); // Safety lower limit | ||
} | ||
else if(pwm.pwm_drive > pwm_upperlimit) | ||
{ | ||
analogWrite(5,pwm_upperlimit); // Safety upper limit | ||
} | ||
else | ||
{ | ||
analogWrite(5,pwm.pwm_drive); // Incoming data | ||
} | ||
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if(pwm.pwm_angle < pwm_lowerlimit) | ||
{ | ||
analogWrite(6,pwm_lowerlimit); // Safety lower limit | ||
} | ||
else if(pwm.pwm_angle > pwm_upperlimit) | ||
{ | ||
analogWrite(6,pwm_upperlimit); // Safety upper limit | ||
} | ||
else | ||
{ | ||
analogWrite(6,pwm.pwm_angle); // Incoming data | ||
} | ||
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} | ||
else | ||
{ | ||
analogWrite(5,pwm_center_value); | ||
analogWrite(6,pwm_center_value); | ||
} | ||
} | ||
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void messageEmergencyStop( const std_msgs::Bool& flag ) | ||
{ | ||
flagStop = flag.data; | ||
if(flagStop == true) | ||
{ | ||
analogWrite(5,pwm_center_value); | ||
analogWrite(6,pwm_center_value); | ||
} | ||
} | ||
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ros::Subscriber<drive_msgs::drive_values> sub_drive("drive_pwm", &messageDrive ); | ||
ros::Subscriber<std_msgs::Bool> sub_stop("eStop", &messageEmergencyStop ); | ||
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void setup() { | ||
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analogWriteFrequency(5, 100); | ||
analogWriteFrequency(6, 100); | ||
analogWriteResolution(16); | ||
analogWrite(5,pwm_center_value); | ||
analogWrite(6,pwm_center_value); | ||
pinMode(13,OUTPUT); | ||
digitalWrite(13,HIGH); | ||
pinMode(2,INPUT); | ||
// digitalWrite(2,LOW); | ||
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nh.initNode(); | ||
nh.subscribe(sub_drive); | ||
nh.subscribe(sub_stop); | ||
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nh.advertise(chatter); | ||
} | ||
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void loop() { | ||
nh.spinOnce(); | ||
duration = pulseIn(kill_pin, HIGH, 30000); | ||
while(duration > 1900) | ||
{ | ||
duration = pulseIn(kill_pin, HIGH, 30000); | ||
analogWrite(5,pwm_center_value); | ||
analogWrite(6,pwm_center_value); | ||
} | ||
// put your main code here, to run repeatedly: | ||
/* | ||
if(Serial.available()) | ||
{ | ||
int spd = Serial.read(); | ||
if(spd>127) { | ||
spd = spd-128; | ||
spd = map(spd,0,100,410,820); | ||
analogWrite(5,spd); | ||
} | ||
else { | ||
//angle servo | ||
spd = map(spd,0,100,410,820); | ||
analogWrite(6,spd); | ||
} | ||
} | ||
*/ | ||
} |