Update of /cvsroot/playerstage/code/player/server/drivers/mixed/erratic
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv792
Modified Files:
erratic.cc erratic.h
Log Message:
Index: erratic.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.cc,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** erratic.cc 18 Dec 2006 06:03:27 -0000 1.11
--- erratic.cc 18 Dec 2006 07:38:20 -0000 1.12
***************
*** 473,477 ****
}
! printf(" done.\n Connected to \"%s\", a %s %s\n", name, type, subtype);
// Set the robot type statically for now (there is only one!)
--- 473,477 ----
}
! printf(" done.\n Connected to <%s>, a %s %s\n", name, type, subtype);
// Set the robot type statically for now (there is only one!)
***************
*** 691,695 ****
}
! printf("Erratic has been shutdown");
return(0);
--- 691,695 ----
}
! printf("Erratic has been shut down");
return(0);
***************
*** 792,796 ****
//Lock();
! switch(packet.packet[3]) {
case (reply_e)motor:
case (reply_e)motor+2:
--- 792,797 ----
//Lock();
! switch(packet.packet[3])
! {
case (reply_e)motor:
case (reply_e)motor+2:
***************
*** 802,813 ****
}
break;
case (reply_e)config:
-
break;
case (reply_e)ain:
// This data goes in two places, analog input
and ir rangers
erratic_data.aio.voltages_count =
packet.packet[4];
erratic_data.ir.voltages_count =
RobotParams[this->param_idx]->NumIR;
! erratic_data.ir.ranges_count = 2;
unsigned int i_voltage;
for (i_voltage = 0; i_voltage <
erratic_data.aio.voltages_count ;i_voltage++)
--- 803,815 ----
}
break;
+
case (reply_e)config:
break;
+
case (reply_e)ain:
// This data goes in two places, analog input
and ir rangers
erratic_data.aio.voltages_count =
packet.packet[4];
erratic_data.ir.voltages_count =
RobotParams[this->param_idx]->NumIR;
! erratic_data.ir.ranges_count =
RobotParams[this->param_idx]->NumIR;;
unsigned int i_voltage;
for (i_voltage = 0; i_voltage <
erratic_data.aio.voltages_count ;i_voltage++)
***************
*** 818,826 ****
+
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
erratic_data.ir.voltages[i_voltage] = (packet.packet[5+i_voltage*2]
! +
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
!
erratic_data.ir.ranges[i_voltage] =
IRRangeFromVoltage(erratic_data.ir.voltages[i_voltage]);
}
// add digital inputs, four E port bits
for (int i=0; i < 4; i++)
{
--- 820,829 ----
+
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
erratic_data.ir.voltages[i_voltage] = (packet.packet[5+i_voltage*2]
! +
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
! //
erratic_data.ir.ranges[i_voltage] =
IRRangeFromVoltage(erratic_data.ir.voltages[i_voltage]);
}
// add digital inputs, four E port bits
+ erratic_data.aio.voltages_count += 4;
for (int i=0; i < 4; i++)
{
***************
*** 828,836 ****
continue;
erratic_data.aio.voltages[i_voltage+i] =
!
(packet.packet[5+i_voltage*2] & (0x1 << i+4)) ? 1 : 0;
!
erratic_data.ir.voltages[i_voltage+1] =
!
(packet.packet[5+i_voltage*2] & (0x1 << i+4)) ? 1 : 0;
!
erratic_data.ir.ranges[i_voltage+i] =
! IRRangeFromVoltage(erratic_data.ir.voltages[i_voltage+i]);
}
--- 831,839 ----
continue;
erratic_data.aio.voltages[i_voltage+i] =
!
(packet.packet[5+i_voltage*2] & (0x1 << i+4)) ? 1.0 : 0.0;
! erratic_data.ir.voltages[i] =
!
(packet.packet[5+i_voltage*2] & (0x1 << i+4)) ? 1.0 : 0.0;
! erratic_data.ir.ranges[i] =
!
IRFloorRange(erratic_data.ir.voltages[i]);
}
***************
*** 840,843 ****
--- 843,847 ----
PublishIR();
break;
+
case (reply_e)debug:
if (debug_mode) {
***************
*** 848,851 ****
--- 852,856 ----
}
break;
+
default:
if (debug_mode) {
***************
*** 853,857 ****
packet.Print();
}
! }
//Unlock();
--- 858,862 ----
packet.Print();
}
! }
//Unlock();
***************
*** 953,957 ****
// Enable or disable analog input reporting
! void Erratic::ToggleAIn(unsigned char val) {
unsigned char command[4];
ErraticPacket *packet = new ErraticPacket();
--- 958,963 ----
// Enable or disable analog input reporting
! void Erratic::ToggleAIn(unsigned char val)
! {
unsigned char command[4];
ErraticPacket *packet = new ErraticPacket();
***************
*** 967,975 ****
// This describes the IR hardware
! float Erratic::IRRangeFromVoltage(float voltage) {
! // This is values for the Sharp 2Y0A02, 150 cm ranger
return -.2475 + .1756 * voltage + .7455 / voltage - .0446 * voltage *
voltage;
}
/** Talking to the Player architecture **/
--- 973,992 ----
// This describes the IR hardware
! float Erratic::IRRangeFromVoltage(float voltage)
! {
! // This is for the Sharp 2Y0A02, 150 cm ranger
return -.2475 + .1756 * voltage + .7455 / voltage - .0446 * voltage *
voltage;
}
+ float Erratic::IRFloorRange(float value)
+ {
+ printf("Floor value: %0.1f\n", value);
+ // floor range is 1 (floor present) or 0 (no floor)
+ if (value >= 0.9)
+ return 0.10;
// approximate location of floor from sensors
+ else
+ return 1.0;
// far away
+ }
+
/** Talking to the Player architecture **/
***************
*** 985,989 ****
// Wait for some instructions
! Wait();
this->Lock();
--- 1002,1007 ----
// Wait for some instructions
! // Wait();
! usleep(10000);
// Wait() blocks too much, doesn't get subscriptions
this->Lock();
Index: erratic.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** erratic.h 18 Dec 2006 06:03:27 -0000 1.7
--- erratic.h 18 Dec 2006 07:38:20 -0000 1.8
***************
*** 165,168 ****
--- 165,169 ----
float IRRangeFromVoltage(float voltage);
+ float IRFloorRange(float value);
void StartThreads();
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