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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file RoboClaw.cpp
*
* RoboClaw Motor Driver
*
* references:
* http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
*
*/
#include "RoboClaw.hpp"
#include <poll.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <systemlib/err.h>
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
uint8_t RoboClaw::checksum_mask = 0x7f;
RoboClaw::RoboClaw(const char *deviceName, uint16_t address):
_address(address),
_uart(0),
_controlPoll(),
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
_motor1Position(0),
_motor1Speed(0),
_motor2Position(0),
_motor2Speed(0)
{
// setup control polling
_controlPoll.fd = _actuators.getHandle();
_controlPoll.events = POLLIN;
// start serial port
_uart = open(deviceName, O_RDWR | O_NOCTTY);
struct termios uart_config;
tcgetattr(_uart, &uart_config);
uart_config.c_oflag &= ~ONLCR; // no CR for every LF
cfsetispeed(&uart_config, B38400);
cfsetospeed(&uart_config, B38400);
tcsetattr(_uart, TCSANOW, &uart_config);
// setup default settings, reset encoders
resetEncoders();
}
RoboClaw::~RoboClaw()
{
setMotorDutyCycle(MOTOR_1, 0.0);
setMotorDutyCycle(MOTOR_2, 0.0);
close(_uart);
}
int RoboClaw::readEncoder(e_motor motor)
{
uint16_t sum = 0;
if (motor == MOTOR_1) {
_sendCommand(CMD_READ_ENCODER_1, nullptr, 0, sum);
} else if (motor == MOTOR_2) {
_sendCommand(CMD_READ_ENCODER_2, nullptr, 0, sum);
}
uint8_t rbuf[6];
int ret = read(_uart, rbuf, 6);
uint32_t count = 0;
uint8_t * countBytes = (uint8_t *)(&count);
countBytes[3] = rbuf[0];
countBytes[2] = rbuf[1];
countBytes[1] = rbuf[2];
countBytes[0] = rbuf[3];
uint8_t status = rbuf[4];
if ((sum + _sumBytes(rbuf,5)) &
checksum_mask == rbuf[5]) return -1;
int overFlow = 0;
if (status & STATUS_UNDERFLOW) {
overFlow = -1;
} else if (status & STATUS_OVERFLOW) {
overFlow = +1;
}
if (motor == MOTOR_1) {
_motor1Overflow += overFlow;
} else if (motor == MOTOR_2) {
_motor2Overflow += overFlow;
}
return ret;
}
void RoboClaw::status(char *string, size_t n)
{
snprintf(string, n,
"motor 1 position:\t%10.2f\tspeed:\t%10.2f\n"
"motor 2 position:\t%10.2f\tspeed:\t%10.2f\n",
double(getMotorPosition(MOTOR_1)),
double(getMotorSpeed(MOTOR_1)),
double(getMotorPosition(MOTOR_2)),
double(getMotorSpeed(MOTOR_2)));
}
float RoboClaw::getMotorPosition(e_motor motor)
{
if (motor == MOTOR_1) {
return _motor1Position;
} else if (motor == MOTOR_2) {
return _motor2Position;
}
}
float RoboClaw::getMotorSpeed(e_motor motor)
{
if (motor == MOTOR_1) {
return _motor1Speed;
} else if (motor == MOTOR_2) {
return _motor2Speed;
}
}
int RoboClaw::setMotorSpeed(e_motor motor, float value)
{
uint16_t sum = 0;
// bound
if (value > 1) value = 1;
if (value < -1) value = -1;
uint8_t speed = fabs(value)*127;
// send command
if (motor == MOTOR_1) {
if (value > 0) {
_sendCommand(CMD_DRIVE_FWD_1, &speed, 1, sum);
} else {
_sendCommand(CMD_DRIVE_REV_1, &speed, 1, sum);
}
} else if (motor == MOTOR_2) {
if (value > 0) {
_sendCommand(CMD_DRIVE_FWD_2, &speed, 1, sum);
} else {
_sendCommand(CMD_DRIVE_REV_2, &speed, 1, sum);
}
}
}
int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
{
uint16_t sum = 0;
// bound
if (value > 1) value = 1;
if (value < -1) value = -1;
int16_t duty = 1500*value;
// send command
if (motor == MOTOR_1) {
_sendCommand(CMD_SIGNED_DUTYCYCLE_1,
(uint8_t *)(&duty), 2, sum);
} else if (motor == MOTOR_2) {
_sendCommand(CMD_SIGNED_DUTYCYCLE_2,
(uint8_t *)(&duty), 2, sum);
}
}
void RoboClaw::update()
{
// wait for an actuator publication,
// check for exit condition every second
// note "::poll" is required to distinguish global
// poll from member function for driver
if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
// if new data, send to motors
if (_actuators.updated()) {
_actuators.update();
setMotorSpeed(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
setMotorSpeed(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
}
}
uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
{
uint16_t sum = 0;
for (size_t i=0;i<n;i++) {
sum += buf[i];
}
return sum;
}
int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
size_t n_data, uint16_t & prev_sum)
{
tcflush(_uart, TCIOFLUSH);
uint8_t buf[n_data + 3];
buf[0] = _address;
buf[1] = cmd;
for (int i=0;i<n_data;i++) {
buf[i+2] = data[n_data - i - 1]; // MSB
}
uint16_t sum = _sumBytes(buf, n_data + 2);
prev_sum += sum;
buf[n_data + 2] = sum & checksum_mask;
return write(_uart, buf, n_data + 3);
}
int roboclawTest(const char *deviceName, uint8_t address)
{
printf("roboclaw test: starting\n");
// setup
RoboClaw roboclaw(deviceName, address);
printf("Test complete\n");
return 0;
}
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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