Merge pull request #41 from Sunlcy/indigo-devel

Fix #40 issue and add .gitignore file

.gitignore

@@ -0,0 +1,106 @@
+
+# Created by https://www.gitignore.io/api/python
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# End of https://www.gitignore.io/api/python
+# temporary files
+*~

ros_arduino_python/nodes/arduino_node.py

@@ -43,7 +43,7 @@ class ArduinoROS():
         self.baud = int(rospy.get_param("~baud", 57600))
         self.timeout = rospy.get_param("~timeout", 0.5)
         self.base_frame = rospy.get_param("~base_frame", 'base_link')
-
+        self.motors_reversed = rospy.get_param("~motors_reversed", False)
         # Overall loop rate: should be faster than fastest sensor rate
         self.rate = int(rospy.get_param("~rate", 50))
         r = rospy.Rate(self.rate)
@@ -91,7 +91,7 @@ class ArduinoROS():
         rospy.Service('~analog_read', AnalogRead, self.AnalogReadHandler)
 
         # Initialize the controlller
-        self.controller = Arduino(self.port, self.baud, self.timeout)
+        self.controller = Arduino(self.port, self.baud, self.timeout, self.motors_reversed)
 
         # Make the connection
         self.controller.connect()

ros_arduino_python/src/ros_arduino_python/arduino_driver.py

@@ -38,7 +38,7 @@ class Arduino:
     N_ANALOG_PORTS = 6
     N_DIGITAL_PORTS = 12
 
-    def __init__(self, port="/dev/ttyUSB0", baudrate=57600, timeout=0.5):
+    def __init__(self, port="/dev/ttyUSB0", baudrate=57600, timeout=0.5, motors_reversed=False):
 
         self.PID_RATE = 30 # Do not change this!  It is a fixed property of the Arduino PID controller.
         self.PID_INTERVAL = 1000 / 30
@@ -49,7 +49,7 @@ class Arduino:
         self.encoder_count = 0
         self.writeTimeout = timeout
         self.interCharTimeout = timeout / 30.
-    
+        self.motors_reversed = motors_reversed
         # Keep things thread safe
         self.mutex = thread.allocate_lock()
 
@@ -270,6 +270,8 @@ class Arduino:
             raise SerialException
             return None
         else:
+            if self.motors_reversed:
+                values[0], values[1] = -values[0], -values[1]
             return values
 
     def reset_encoders(self):
@@ -280,6 +282,8 @@ class Arduino:
     def drive(self, right, left):
         ''' Speeds are given in encoder ticks per PID interval
         '''
+        if self.motors_reversed:
+            left, right = -left, -right
         return self.execute_ack('m %d %d' %(right, left))
 
     def drive_m_per_s(self, right, left):
@@ -374,4 +378,3 @@ if __name__ == "__main__":
     myArduino.close()
 
     print "Shutting down Arduino."
-