yikestone/ros_arduino_bridge
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Backed out changes that were accidently checked into hbrobotics repository. Explaination: I am president of Homebrew Roboics, so I am also an 'owner' of the hbrobotics repository. By accident, I checked in some untested changes into the hbrobotics web site, when I thought I was checking them into a staging repository. Me bad. This should get us back to the way we were at pull request #18.

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This commit is contained in:
Wayne C. Gramlich 2015-05-14 08:54:55 -07:00
parent 1d43339c00
commit 8963ce8c59
3 changed files with 1 additions and 28 deletions
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2
ros_arduino_python/config/arduino_params.yaml
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@ -22,8 +22,6 @@ base_frame: base_link
#encoder_resolution: 8384 # from Pololu for 131:1 motors #encoder_resolution: 8384 # from Pololu for 131:1 motors
#gear_reduction: 1.0 #gear_reduction: 1.0
#motors_reversed: True #motors_reversed: True
#left_motor_reversed: True
#right_motor_reversed: True
# === PID parameters # === PID parameters
#Kp: 10 #Kp: 10

22
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -49,9 +49,6 @@ class Arduino:
self.encoder_count = 0 self.encoder_count = 0
self.writeTimeout = timeout self.writeTimeout = timeout
self.interCharTimeout = timeout / 30. self.interCharTimeout = timeout / 30.
self.motors_reversed = False
self.left_motor_reversed = False
self.right_motor_reversed = False
# Keep things thread safe # Keep things thread safe
self.mutex = thread.allocate_lock() self.mutex = thread.allocate_lock()
@ -95,12 +92,6 @@ class Arduino:
''' '''
self.port.close() self.port.close()
def motors_configure(self, motors_reversed = False,
left_motor_reversed = False, right_motor_reversed = False):
self.motors_reversed = motors_reversed
self.left_motor_reversed = left_motor_reversed
self.right_motor_reversed = right_motor_reversed
def send(self, cmd): def send(self, cmd):
''' This command should not be used on its own: it is called by the execute commands ''' This command should not be used on its own: it is called by the execute commands
below in a thread safe manner. below in a thread safe manner.
@ -276,12 +267,6 @@ class Arduino:
raise SerialException raise SerialException
return None return None
else: else:
if self.motors_reversed:
values[0], values[1] = values[1], values[0]
if self.left_motor_reversed:
values[0] = -values[0]
if self.right_motor_reversed:
values[1] = -values[1]
return values return values
def reset_encoders(self): def reset_encoders(self):
@ -292,13 +277,6 @@ class Arduino:
def drive(self, right, left): def drive(self, right, left):
''' Speeds are given in encoder ticks per PID interval ''' Speeds are given in encoder ticks per PID interval
''' '''
if self.left_motor_reversed:
left = -left
if self.right_motor_reversed:
right = -right
if self.motors_reversed:
left, right = right, left
return self.execute_ack('m %d %d' %(right, left)) return self.execute_ack('m %d %d' %(right, left))
def drive_m_per_s(self, right, left): def drive_m_per_s(self, right, left):

5
ros_arduino_python/src/ros_arduino_python/base_controller.py
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@ -50,10 +50,7 @@ class BaseController:
self.accel_limit = rospy.get_param('~accel_limit', 0.1) self.accel_limit = rospy.get_param('~accel_limit', 0.1)
self.motors_reversed = rospy.get_param("~motors_reversed", False) self.motors_reversed = rospy.get_param("~motors_reversed", False)
self.left_motor_reversed = rospy.get_param("~left_motor_reversed", False)
self.right_motor_reversed = rospy.get_param("~right_motor_reversed", False)
arduino.motors_configure(self.motors_reversed, self.left_motor_reversed, self.right_motor_reversed)
# Set up PID parameters and check for missing values # Set up PID parameters and check for missing values
self.setup_pid(pid_params) self.setup_pid(pid_params)