mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-22 06:14:14 +08:00
Roboclaw: major cleanup
This commit is contained in:
Matthias Grob
@@ -1,4 +1,5 @@
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uint64 timestamp # time since system start (microseconds)
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float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
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float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
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# Two wheels: 0 left, 1 right
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float32[2] wheel_speed # [rad/s]
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float32[2] wheel_angle # [rad]
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+226
-253
File diff suppressed because it is too large
Load Diff
@@ -32,9 +32,9 @@
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****************************************************************************/
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/**
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* @file RoboClas.hpp
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* @file Roboclaw.hpp
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*
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* Roboclaw Motor Driver
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* Roboclaw motor control driver
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*
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* Product page: https://www.basicmicro.com/motor-controller
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* Manual: https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf
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@@ -54,172 +54,85 @@
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#include <uORB/Publication.hpp>
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#include <uORB/topics/wheel_encoders.h>
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/**
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* This is a driver for the Roboclaw motor controller
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*/
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class Roboclaw : public ModuleBase<Roboclaw>, public OutputModuleInterface
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{
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public:
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/**
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* constructor
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* @param deviceName the name of the
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* serial port e.g. "/dev/ttyS2"
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* @param address the adddress of the motor
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* (selectable on roboclaw)
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* @param baudRateParam Name of the parameter that holds the baud rate of this serial port
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*/
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Roboclaw(const char *deviceName, const char *baudRateParam);
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/**
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* deconstructor
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* @param device_name Name of the serial port e.g. "/dev/ttyS2"
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* @param bad_rate_parameter Name of the parameter that holds the baud rate of this serial port
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*/
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Roboclaw(const char *device_name, const char *bad_rate_parameter);
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virtual ~Roboclaw();
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/** control channels */
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enum e_channel {
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CH_VOLTAGE_LEFT = 0,
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CH_VOLTAGE_RIGHT
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enum class Motor {
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Left = 0,
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Right = 1
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};
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/** motors */
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enum e_motor {
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MOTOR_1 = 0,
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MOTOR_2
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};
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/** error handeling*/
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enum class RoboClawError {
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Success,
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WriteError,
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ReadError,
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ChecksumError,
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ChecksumMismatch,
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UnexpectedError,
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ReadTimeout
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};
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::print_status() */
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int print_status() override;
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static int task_spawn(int argc, char *argv[]); ///< @see ModuleBase
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static int custom_command(int argc, char *argv[]); ///< @see ModuleBase
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static int print_usage(const char *reason = nullptr); ///< @see ModuleBase
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int print_status() override; ///< @see ModuleBase
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void Run() override;
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int init();
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/** @see OutputModuleInterface */
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bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
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unsigned num_outputs, unsigned num_control_groups_updated) override;
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/**
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* set the speed of a motor, rev/sec
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*/
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void setMotorSpeed(e_motor motor, float value);
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/**
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* set the duty cycle of a motor
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*/
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void setMotorDutyCycle(e_motor motor, float value);
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/**
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* Drive both motors. +1 = full forward, -1 = full backward
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*/
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void drive(float value);
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/**
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* Turn. +1 = full right, -1 = full left
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*/
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void turn(float value);
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/**
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* reset the encoders
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* @return status
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*/
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void setMotorSpeed(Motor motor, float value); ///< rev/sec
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void setMotorDutyCycle(Motor motor, float value);
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int readEncoder();
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void resetEncoders();
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/**
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* read data from serial
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*/
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int readEncoder();
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private:
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static constexpr int MAX_ACTUATORS = 2;
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enum class Command : uint8_t {
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ReadStatus = 90,
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MixingOutput _mixing_output{"ROBOCLAW", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
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DriveForwardMotor1 = 0,
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DriveBackwardsMotor1 = 1,
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DriveForwardMotor2 = 4,
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DriveBackwardsMotor2 = 5,
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DutyCycleMotor1 = 32,
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DutyCycleMotor2 = 33,
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char _storedDeviceName[256]; // Adjust size as necessary
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char _storedBaudRateParam[256]; // Adjust size as necessary
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int _timeout_counter = 0;
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bool _successfully_connected{false};
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// commands
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// We just list the commands we want from the manual here.
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enum e_command {
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// simple
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CMD_DRIVE_FWD_1 = 0,
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CMD_DRIVE_REV_1 = 1,
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CMD_DRIVE_FWD_2 = 4,
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CMD_DRIVE_REV_2 = 5,
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CMD_DRIVE_FWD_MIX = 8,
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CMD_DRIVE_REV_MIX = 9,
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CMD_TURN_RIGHT = 10,
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CMD_TURN_LEFT = 11,
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// encoder commands
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CMD_READ_ENCODER_1 = 16,
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CMD_READ_ENCODER_2 = 17,
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CMD_READ_SPEED_1 = 18,
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CMD_READ_SPEED_2 = 19,
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CMD_RESET_ENCODERS = 20,
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CMD_READ_BOTH_ENCODERS = 78,
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CMD_READ_BOTH_SPEEDS = 79,
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// advanced motor control
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CMD_READ_SPEED_HIRES_1 = 30,
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CMD_READ_SPEED_HIRES_2 = 31,
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CMD_SIGNED_DUTYCYCLE_1 = 32,
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CMD_SIGNED_DUTYCYCLE_2 = 33,
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CMD_READ_STATUS = 90
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ReadSpeedMotor1 = 18,
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ReadSpeedMotor2 = 19,
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ResetEncoders = 20,
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ReadEncoderCounters = 78,
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};
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int _uart_fd{0};
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fd_set _uart_fd_set;
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struct timeval _uart_fd_timeout;
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static constexpr int MAX_ACTUATORS = 2;
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MixingOutput _mixing_output{"ROBOCLAW", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
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uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Publication<wheel_encoders_s> _wheel_encoders_pub{ORB_ID(wheel_encoders)};
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matrix::Vector2f _motor_control{0.0f, 0.0f};
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char _stored_device_name[256]; // Adjust size as necessary
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char _stored_baud_rate_parameter[256]; // Adjust size as necessary
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uORB::Publication<wheel_encoders_s> _wheel_encoders_pub {ORB_ID(wheel_encoders)};
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void sendUnsigned7Bit(Command command, float data);
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void sendSigned16Bit(Command command, float data);
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void _parameters_update();
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// Roboclaw protocol
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int sendTransaction(Command cmd, uint8_t *write_buffer, size_t bytes_to_write);
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int writeCommandWithPayload(Command cmd, uint8_t *wbuff, size_t bytes_to_write);
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int readAcknowledgement();
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int receiveTransaction(Command cmd, uint8_t *read_buffer, size_t bytes_to_read);
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int writeCommand(Command cmd);
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int readResponse(Command command, uint8_t *read_buffer, size_t bytes_to_read);
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static uint16_t _calcCRC(const uint8_t *buf, size_t n, uint16_t init = 0);
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void _sendUnsigned7Bit(e_command command, float data);
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void _sendSigned16Bit(e_command command, float data);
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int32_t reverseInt32(uint8_t *buffer);
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bool _initialized{false};
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RoboClawError writeCommand(e_command cmd);
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RoboClawError writeCommandWithPayload(e_command cmd, uint8_t *wbuff, size_t bytes_to_write);
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void sendTransaction(e_command cmd, uint8_t *write_buffer, size_t bytes_to_write);
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int receiveTransaction(e_command cmd, uint8_t *read_buffer, size_t bytes_to_read);
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int32_t swapBytesInt32(uint8_t *buffer);
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// UART handling
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int initializeUART();
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bool _uart_initialized{false};
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int _uart_fd{0};
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fd_set _uart_fd_set;
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struct timeval _uart_fd_timeout;
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::RBCLW_ADDRESS>) _param_rbclw_address,
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