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segwayrmpacfr/driver.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef HYDRO_SEGWAYRMP_ACFR_H #define HYDRO_SEGWAYRMP_ACFR_H #include <hydrointerfaces/segwayrmp.h> #include "rmpdriverconfig.h" #include "rmpio.h" #include "rxdata.h" #include "unitconverter.h" #include "commandhistory.h" namespace segwayrmpacfr { // // An implementation of HwHandler that knows how to talk Segway's // protocol. Requires a hardware interface implementation to be // passed to the constructor. // // All public member functions throw hydrointerfaces::SegwayRmp::Exceptions on error conditions. // class Driver : public hydrointerfaces::SegwayRmp { public: Driver( const hydroutil::Context& context ); virtual ~Driver(); // from SegwayRmp virtual void enable(); virtual bool read( Data& data ); virtual void write( const Command& command ); virtual void getStatus( std::string &status, bool &isWarn, bool &isFault ); virtual void applyHardwareLimits( double &maxForwardSpeed, double &maxReverseSpeed, double &maxTurnrate, double &maxLateralAcceleration ); // Custom method // Shuts down the motors void shutdown(); private: void setMaxVelocityScaleFactor( double scale ); void setMaxTurnrateScaleFactor( double scale ); void setMaxAccelerationScaleFactor( double scale ); void setMaxCurrentLimitScaleFactor( double scale ); void resetAllIntegrators(); void setGainSchedule( int sched ); void enableBalanceMode( bool enable ); double maxSpeed(); // max turnrate depends on the speed double maxTurnrate( double speed ); void applyScaling( const Command& original, Command &scaledCommand ); // Checks that we're allowed to command the RMP in this operational mode (balance/tractor). // Throws exceptions if we're trying to do the wrong thing. void checkOperationalMode(); // Reads a set of CAN packets, returns the result RxData readData(); void calculateIntegratedOdometry( const RxData &prevData, const RxData &thisData ); // fills up the Data class (understood externally) Data getData(); void sendMotionCommandPacket( const Command& command ); void sendStatusCommandPacket( ConfigurationCommand commandId, uint16_t param ); // The RMP reports its last received command. Check that this is what we sent. void checkReceivedCommand( const RxData &rxData ); // Configuration RmpDriverConfig config_; // driver/hardware interface RmpIo* rmpIo_; // Remember the last commands we gave, so that we can check that the // received-commands reported by the Segway were actually sent. CommandHistory commandHistory_; // integrated odometry (in SI units) double odomX_; double odomY_; double odomYaw_; // Converts between units // stored as a pointer because it needs model number to be initialized UnitConverter* converter_; // Most-recently-received data // stored as a pointer because it needs model number to be initialized RxData* rxData_; // For logging CAN data for debugging std::ofstream *canDataFile_; hydroutil::Context context_; }; // Used for dynamically loading driver class Factory : public hydrointerfaces::SegwayRmpFactory { public: hydrointerfaces::SegwayRmp* createDriver( const hydroutil::Context &context ) const { return new Driver( context ); } }; } // namespace // Used for dynamically loading driver extern "C" { hydrointerfaces::SegwayRmpFactory *createDriverFactory(); } #endif

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