modelec/ros2_roboclaw_driver
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This commit is contained in:
Michael Wimble
2025-03-20 00:00:37 -07:00
parent e616a932a4
commit 553c32e41b
3 changed files with 33 additions and 360 deletions
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35
include/roboclaw.h
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@@ -104,10 +104,10 @@ public:
va_end(args);
}
void doMixedSpeedDist(int32_t m1_quad_pulses_per_second,
int32_t m1_max_distance,
int32_t m2_quad_pulses_per_second,
int32_t m2_max_distance);
// void doMixedSpeedDist(int32_t m1_quad_pulses_per_second,
// int32_t m1_max_distance,
// int32_t m2_quad_pulses_per_second,
// int32_t m2_max_distance);
void doMixedSpeedAccelDist(uint32_t accel_quad_pulses_per_second,
int32_t m1_quad_pulses_per_second,
@@ -169,8 +169,6 @@ public:
protected:
// Write a stream of bytes to the device.
void writeN(bool sendCRC, uint8_t cnt, ...);
void writeN2(bool sendCRC, uint8_t cnt, ...);
private:
@@ -183,13 +181,6 @@ private:
// Get RoboClaw error status as a string.
std::string getErrorString(uint16_t errorStatus);
int32_t cache_getM1Speed();
int32_t cache_getM2Speed();
float cache_getMainBatteryLevel();
float cache_getTemperature();
static void sensorReadThread();
typedef struct {
@@ -305,22 +296,15 @@ private:
// Get velocity (speed) result from the RoboClaw controller.
int32_t getVelocityResult(uint8_t command);
unsigned long getUlongCommandResult(uint8_t command);
unsigned long getUlongCommandResult2(uint8_t command);
uint32_t getULongCont2(uint16_t &crc);
unsigned short get2ByteCommandResult(uint8_t command);
unsigned short get2ByteCommandResult2(uint8_t command);
// Open the RoboClaw USB port.
void openPort();
// Read one byte from device with timeout.
uint8_t readByteWithTimeout();
// Read one byte from device with timeout.
uint8_t readByteWithTimeout2();
@@ -341,14 +325,9 @@ private:
// Update the running CRC result.
void updateCrc(uint16_t &crc, uint8_t data);
// Write one byte to the device.
void writeByte(uint8_t byte);
// Write one byte to the device.
void writeByte2(uint8_t byte);
void SetEncoder(ROBOCLAW_COMMAND command, long value);
static RoboClaw *g_singleton;
char command_log_[256];
@@ -529,8 +508,6 @@ private:
roboclaw_.appendToWriteLog(
"SetEncoderValue: motor: %d (%s) value: %ld, WROTE: ", motor_,
motorNames_[motor_], value_);
// roboclaw_.SetEncoder(motor_ == kM1 ? kSETM1ENCODER : kSETM2ENCODER,
// value_);
try {
roboclaw_.writeN2(true, 6, roboclaw_.portAddress_,
motor_ == kM1 ? kSETM1ENCODER : kSETM2ENCODER,
@@ -832,7 +809,7 @@ private:
responseCrc |= datum;
if (responseCrc != crc) {
RCUTILS_LOG_ERROR(
"[RoboClaw::cache_getTemperature] invalid CRC expected: 0x%2X, "
"[RoboClaw::CmdReadTemperature] invalid CRC expected: 0x%2X, "
"got: 0x%2X",
crc, responseCrc);
result = 0.0;
@@ -841,7 +818,7 @@ private:
temperature_ = result / 10.0;
} catch (...) {
RCUTILS_LOG_ERROR(
"[RoboClaw::cache_getTemperature] Uncaught exception !!!");
"[RoboClaw::CmdReadTemperature] Uncaught exception !!!");
}
roboclaw_.appendToReadLog(", RESULT: %f", temperature_);