bool tx_status;\r
float previous_tx_millis;\r
\r
+//TEST variables\r
+long start_time;\r
+long end_time;\r
+int time_diff;\r
+\r
/* USER CODE END PV */\r
\r
/* Private function prototypes -----------------------------------------------*/\r
pb_encode(&out_pb_stream, StatusMessage_fields, &status_msg);\r
status_msg_length = out_pb_stream.bytes_written;\r
\r
+ //Enables TIM6 interrupt (used for periodic transmission of the odometry)\r
+ HAL_TIM_Base_Start_IT(&htim6);\r
+\r
//Enables UART RX interrupt\r
HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
velocity_cmd_length);\r
right_dutycycle -= cross_dutycycle;\r
}\r
\r
- //TIMER 2Hz Transmit\r
+ //TIMER 10Hz Transmit\r
if (htim->Instance == TIM6) {\r
\r
- //TODO odometry\r
-\r
pb_ostream_t stream = pb_ostream_from_buffer(proto_buffer_tx, sizeof(proto_buffer_tx));\r
\r
- odom.FromWheelVelToOdom(left_velocity, right_velocity);\r
+ float left_wheel = left_encoder.GetLinearVelocity();\r
+ float right_wheel = right_encoder.GetLinearVelocity();\r
+\r
+ odom.FromWheelVelToOdom(1, -1);\r
\r
status_msg.linear_velocity = odom.GetLinearVelocity();\r
status_msg.angular_velocity = odom.GetAngularVelocity();\r
pb_encode(&stream, StatusMessage_fields, &status_msg);\r
\r
HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, status_msg_length);\r
-// HAL_UART_Transmit(&huart6,(uint8_t*) &proto_buffer_tx, status_msg_length, 100);\r
}\r
}\r
\r
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {\r
\r
- mode++;\r
+ start_time = HAL_GetTick();\r
+\r
+// size_t buffer_size = sizeof(proto_buffer_rx);\r
+// uint8_t buffer_copy[buffer_size];\r
+// memcpy((void *) &buffer_copy, &proto_buffer_rx, buffer_size);\r
+//\r
+// HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
+// velocity_cmd_length);\r
+// mode++;\r
\r
float linear_velocity;\r
float angular_velocity;\r
float left_setpoint = odom.GetLeftVelocity();\r
float right_setpoint = odom.GetRightVelocity();\r
\r
- left_pid.set(left_setpoint);\r
- right_pid.set(right_setpoint);\r
+// left_pid.set(left_setpoint);\r
+// right_pid.set(right_setpoint);\r
+\r
+ left_pid.set(0);\r
+ right_pid.set(0);\r
\r
float cross_setpoint = left_setpoint - right_setpoint;\r
- cross_pid.set(cross_setpoint);\r
+// cross_pid.set(cross_setpoint);\r
+\r
+ cross_pid.set(0);\r
+\r
}\r
\r
HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
velocity_cmd_length);\r
+\r
+ end_time = HAL_GetTick();\r
+ time_diff = end_time - start_time;\r
}\r
\r
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {\r
mode = 1;\r
//Enables TIM3 interrupt (used for PID control)\r
HAL_TIM_Base_Start_IT(&htim3);\r
- //Enables TIM6 interrupt (used for periodic transmission)\r
- HAL_TIM_Base_Start_IT(&htim6);\r
\r
}\r
\r
<param name="port" value="/dev/ttyUSB1" />
</node>
<node name="cmd_vel_transmitter" pkg="joypad_bridge" type="cmd_vel_transmitter.py" output="screen"/>
+ <node name="serial_receiver" pkg="joypad_bridge" type="serial_receiver.py"/>
</launch>
<node name="joy_node" pkg="joy" type="joy_node" />
<node name="joy_to_cmd_vel" pkg="joypad_bridge" type="joy_to_cmd_vel.py"/>
<node name="cmd_vel_transmitter" pkg="joypad_bridge" type="cmd_vel_transmitter.py" output="screen"/>
+ <node name="serial_receiver" pkg="joypad_bridge" type="serial_receiver.py"/>
</launch>
from serial import SerialException
ser = serial.Serial(
- baudrate=115200,
+ baudrate=9600,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
my_velocity.angular_velocity = angular;
rospy.loginfo('I heard %f %f', linear, angular)
out_buffer = my_velocity.SerializeToString()
+ print(len(out_buffer))
ser.write(out_buffer)
ser.reset_output_buffer()
- time.sleep(0.001)
+ time.sleep(0.002)
def listener():
while(ser.is_open == False):
+++ /dev/null
-#!/usr/bin/env python
-
-import rospy, serial, struct, time
-from geometry_msgs.msg import Twist
-from serial import SerialException
-
-ser = serial.Serial(
- baudrate=115200,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- bytesize=serial.EIGHTBITS,
- rtscts=False)
-
-def callback(data):
- linear = -data.linear.x
- angular = -data.angular.z #da fixare?
- rospy.loginfo('I heard %f %f', linear, angular)
- msg_output = struct.pack('<ff', linear, angular)
- ser.write(msg_output)
- ser.reset_output_buffer()
- #ser.flush()
-
-
-
-def listener():
- while(ser.is_open == False):
- try:
- ser.port = '/dev/ttyUSB0'
- ser.open()
- except SerialException:
- print('couldnt open /dev/ttyUSB0')
- time.sleep(2)
-
- print('ttyUSB0 opened')
- rospy.init_node('cmd_vel_transmitter', anonymous=True)
-
- rospy.Subscriber('/cmd_vel', Twist, callback)
-
- rospy.spin()
-
-if __name__ == '__main__':
- listener()
#!/usr/bin/env python
-import rospy, serial, struct, time
+import rospy, serial, struct, time, datetime
from serial import SerialException
import otto_communication_pb2
from google.protobuf.message import DecodeError
ser = serial.Serial(
- baudrate=115200,
- timeout = 1000,
+ baudrate=9600,
+ timeout = None,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
rtscts=False,
exclusive=False)
-
+
def serial_receiver():
while(ser.is_open == False):
try:
except SerialException:
print('couldnt open /dev/ttyUSB0')
time.sleep(2)
-
+
print('ttyUSB0 opened')
rospy.init_node('serial_receiver', anonymous=True)
- rospy.Publisher('/odom', Odometry, queue_size=10)
-
+ odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
+ odom_broadcaster = tf.TransformBroadcaster()
+
otto_status = otto_communication_pb2.StatusMessage()
- otto_status.linear_velocity = 0
- otto_status.angular_velocity = 0
- otto_status.delta_millis = 0
- otto_status.status = otto_communication_pb2.StatusMessage.Status.UNKNOWN
-
+ otto_status.linear_velocity = 7
+ otto_status.angular_velocity = 7
+ otto_status.delta_millis = 7
+ otto_status.status = otto_communication_pb2.StatusMessage.Status.RUNNING
+
encoded_buffer = otto_status.SerializeToString()
status_length = len(encoded_buffer)
+ print (status_length)
odom_values = numpy.array([0,0,0]) #x, y, th
- icc_x = 0;
+ icc_x = 0;current_time = rospy.Time.now()
+
icc_y = 0;
radius = 0;
-
- while (1):
- encoded_buffer = ser.read(status_length)
- ser.reset_input_buffer()
+
+ while (not rospy.is_shutdown()):
+ start = datetime.datetime.now()
+ encoded_buffer = ser.read(31)
+
try:
otto_status.ParseFromString(encoded_buffer)
print(otto_status)
- lin_vel = otto_status.linear_velocity
- ang_vel = otto_status.angular_velocity
- d_time = otto_status.delta_millis
- d_time = d_time / 1000.0
- print(d_time)
- if(ang_vel != 0 and d_time > 0):
- radius = lin_vel / ang_vel
- icc_x = (odom_values[0] -radius*sin(odom_values[2]))
- icc_y = (odom_values[1] + radius*cos(odom_values[2]))
- rotation_matrix = numpy.array([[cos(ang_vel*d_time), -sin(ang_vel*d_time), 0], [sin(ang_vel*d_time), cos(ang_vel*d_time), 0], [0, 0, 1]])
- translate_icc_matrix = numpy.array([odom_values[0] - icc_x, odom_values[1] - icc_y, odom_values[2]])
- translate_back_matrix = numpy.array([icc_x, icc_y, ang_vel*d_time])
- odom_values = rotation_matrix.dot(translate_icc_matrix) + translate_back_matrix
- elif(d_time > 0):
- odom_values = numpy.array([odom_values[0]+(lin_vel/d_time), odom_values[1]+(lin_vel/d_time), odom_values[2]])
-
- print(odom_values)
-
+ if (otto_status.status == otto_communication_pb2.StatusMessage.Status.RUNNING):
+ lin_vel = otto_status.linear_velocity
+ ang_vel = otto_status.angular_velocity
+ d_time = otto_status.delta_millis
+ d_time = d_time / 1000.0
+ if(ang_vel != 0 and d_time > 0):
+ radius = lin_vel / ang_vel
+ icc_x = (odom_values[0] -radius*sin(odom_values[2]))
+ icc_y = (odom_values[1] + radius*cos(odom_values[2]))
+
+ rotation_matrix = numpy.array([[cos(ang_vel*d_time), -sin(ang_vel*d_time), 0],
+ [sin(ang_vel*d_time), cos(ang_vel*d_time), 0],
+ [0, 0, 1]])
+
+ translate_icc_matrix = numpy.array([odom_values[0] - icc_x,
+ odom_values[1] - icc_y,
+ odom_values[2]])
+
+ translate_back_matrix = numpy.array([icc_x,
+ icc_y,
+ ang_vel*d_time])
+
+ odom_values = rotation_matrix.dot(translate_icc_matrix) + translate_back_matrix
+
+ elif(d_time > 0):
+ odom_values = numpy.array([odom_values[0]+cos(odom_values[2])*(lin_vel/d_time),
+ odom_values[1]+sin(odom_values[2])*(lin_vel/d_time),
+ odom_values[2]])
+
+ current_time = rospy.Time.now()
+ odom_quat = tf.transformations.quaternion_from_euler(0, 0, odom_values[2])
+ odom_broadcaster.sendTransform((odom_values[0], odom_values[1], 0.), odom_quat, current_time, "base_link", "odom")
+ odom = Odometry()
+ odom.header.stamp = current_time
+ odom.header.frame_id = "odom"
+
+ odom.pose.pose = Pose(Point(odom_values[0], odom_values[1], 0.), Quaternion(*odom_quat))
+
+ odom.child_frame_id = "base_link"
+ odom.twist.twist = Twist(Vector3(lin_vel, 0, 0), Vector3(0, 0, ang_vel))
+
+ odom_pub.publish(odom)
+
except DecodeError:
print("Decode Error")
-
+ ser.reset_input_buffer()
+
+ end = datetime.datetime.now()
+ delta = end - start
+ delta = (delta.total_seconds()*1000)
+ print(delta)
+
if __name__ == '__main__':
serial_receiver()
+++ /dev/null
-/* Automatically generated nanopb constant definitions */
-/* Generated by 0.4.1-dev */
-
-#include "config_command.pb.h"
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-PB_BIND(ConfigCommand, ConfigCommand, AUTO)
-
-
-
+++ /dev/null
-/* Automatically generated nanopb header */
-/* Generated by 0.4.1-dev */
-
-#ifndef PB_CONFIG_COMMAND_PB_H_INCLUDED
-#define PB_CONFIG_COMMAND_PB_H_INCLUDED
-#include <pb.h>
-
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Struct definitions */
-typedef struct _ConfigCommand {
- float left_kp;
- float left_ki;
- float left_kd;
- float right_kp;
- float right_ki;
- float right_kd;
- float cross_kp;
- float cross_ki;
- float cross_kd;
- float baseline;
- uint32_t ticks_per_revolution;
- float right_wheel_circumference;
- float left_wheel_circumference;
-} ConfigCommand;
-
-
-/* Initializer values for message structs */
-#define ConfigCommand_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#define ConfigCommand_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-
-/* Field tags (for use in manual encoding/decoding) */
-#define ConfigCommand_left_kp_tag 1
-#define ConfigCommand_left_ki_tag 2
-#define ConfigCommand_left_kd_tag 3
-#define ConfigCommand_right_kp_tag 4
-#define ConfigCommand_right_ki_tag 5
-#define ConfigCommand_right_kd_tag 6
-#define ConfigCommand_cross_kp_tag 7
-#define ConfigCommand_cross_ki_tag 8
-#define ConfigCommand_cross_kd_tag 9
-#define ConfigCommand_baseline_tag 10
-#define ConfigCommand_ticks_per_revolution_tag 11
-#define ConfigCommand_right_wheel_circumference_tag 12
-#define ConfigCommand_left_wheel_circumference_tag 13
-
-/* Struct field encoding specification for nanopb */
-#define ConfigCommand_FIELDLIST(X, a) \
-X(a, STATIC, SINGULAR, FLOAT, left_kp, 1) \
-X(a, STATIC, SINGULAR, FLOAT, left_ki, 2) \
-X(a, STATIC, SINGULAR, FLOAT, left_kd, 3) \
-X(a, STATIC, SINGULAR, FLOAT, right_kp, 4) \
-X(a, STATIC, SINGULAR, FLOAT, right_ki, 5) \
-X(a, STATIC, SINGULAR, FLOAT, right_kd, 6) \
-X(a, STATIC, SINGULAR, FLOAT, cross_kp, 7) \
-X(a, STATIC, SINGULAR, FLOAT, cross_ki, 8) \
-X(a, STATIC, SINGULAR, FLOAT, cross_kd, 9) \
-X(a, STATIC, SINGULAR, FLOAT, baseline, 10) \
-X(a, STATIC, SINGULAR, FIXED32, ticks_per_revolution, 11) \
-X(a, STATIC, SINGULAR, FLOAT, right_wheel_circumference, 12) \
-X(a, STATIC, SINGULAR, FLOAT, left_wheel_circumference, 13)
-#define ConfigCommand_CALLBACK NULL
-#define ConfigCommand_DEFAULT NULL
-
-extern const pb_msgdesc_t ConfigCommand_msg;
-
-/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
-#define ConfigCommand_fields &ConfigCommand_msg
-
-/* Maximum encoded size of messages (where known) */
-#define ConfigCommand_size 65
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif
+++ /dev/null
-/* Automatically generated nanopb constant definitions */
-/* Generated by 0.4.1-dev */
-
-#include "status_message.pb.h"
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-PB_BIND(VelocityCommand, VelocityCommand, AUTO)
-
-
-
-
+++ /dev/null
-/* Automatically generated nanopb header */
-/* Generated by 0.4.1-dev */
-
-#ifndef PB_STATUS_MESSAGE_PB_H_INCLUDED
-#define PB_STATUS_MESSAGE_PB_H_INCLUDED
-#include <pb.h>
-
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Enum definitions */
-typedef enum _VelocityCommand_Status {
- VelocityCommand_Status_UNKNOWN = 0,
- VelocityCommand_Status_WAITING_CONFIG = 1,
- VelocityCommand_Status_READY = 2,
- VelocityCommand_Status_RUNNING = 3,
- VelocityCommand_Status_H_BRIDGE_FAULT_1 = 4,
- VelocityCommand_Status_H_BRIDGE_FAULT_2 = 5,
- VelocityCommand_Status_UNKNOWN_ERROR = 6
-} VelocityCommand_Status;
-
-/* Struct definitions */
-typedef struct _VelocityCommand {
- float linear_velocity;
- float angular_velocity;
- uint64_t delta_millis;
- VelocityCommand_Status status;
-} VelocityCommand;
-
-
-/* Helper constants for enums */
-#define _VelocityCommand_Status_MIN VelocityCommand_Status_UNKNOWN
-#define _VelocityCommand_Status_MAX VelocityCommand_Status_UNKNOWN_ERROR
-#define _VelocityCommand_Status_ARRAYSIZE ((VelocityCommand_Status)(VelocityCommand_Status_UNKNOWN_ERROR+1))
-
-
-/* Initializer values for message structs */
-#define VelocityCommand_init_default {0, 0, 0, _VelocityCommand_Status_MIN}
-#define VelocityCommand_init_zero {0, 0, 0, _VelocityCommand_Status_MIN}
-
-/* Field tags (for use in manual encoding/decoding) */
-#define VelocityCommand_linear_velocity_tag 1
-#define VelocityCommand_angular_velocity_tag 2
-#define VelocityCommand_delta_millis_tag 3
-#define VelocityCommand_status_tag 4
-
-/* Struct field encoding specification for nanopb */
-#define VelocityCommand_FIELDLIST(X, a) \
-X(a, STATIC, SINGULAR, FLOAT, linear_velocity, 1) \
-X(a, STATIC, SINGULAR, FLOAT, angular_velocity, 2) \
-X(a, STATIC, SINGULAR, FIXED64, delta_millis, 3) \
-X(a, STATIC, SINGULAR, UENUM, status, 4)
-#define VelocityCommand_CALLBACK NULL
-#define VelocityCommand_DEFAULT NULL
-
-extern const pb_msgdesc_t VelocityCommand_msg;
-
-/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
-#define VelocityCommand_fields &VelocityCommand_msg
-
-/* Maximum encoded size of messages (where known) */
-#define VelocityCommand_size 21
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif
+++ /dev/null
-/* Automatically generated nanopb constant definitions */
-/* Generated by 0.4.1-dev */
-
-#include "velocity_command.pb.h"
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-PB_BIND(VelocityCommand, VelocityCommand, AUTO)
-
-
-
+++ /dev/null
-/* Automatically generated nanopb header */
-/* Generated by 0.4.1-dev */
-
-#ifndef PB_VELOCITY_COMMAND_PB_H_INCLUDED
-#define PB_VELOCITY_COMMAND_PB_H_INCLUDED
-#include <pb.h>
-
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Struct definitions */
-typedef struct _VelocityCommand {
- float linear_velocity;
- float angular_velocity;
-} VelocityCommand;
-
-
-/* Initializer values for message structs */
-#define VelocityCommand_init_default {0, 0}
-#define VelocityCommand_init_zero {0, 0}
-
-/* Field tags (for use in manual encoding/decoding) */
-#define VelocityCommand_linear_velocity_tag 1
-#define VelocityCommand_angular_velocity_tag 2
-
-/* Struct field encoding specification for nanopb */
-#define VelocityCommand_FIELDLIST(X, a) \
-X(a, STATIC, SINGULAR, FLOAT, linear_velocity, 1) \
-X(a, STATIC, SINGULAR, FLOAT, angular_velocity, 2)
-#define VelocityCommand_CALLBACK NULL
-#define VelocityCommand_DEFAULT NULL
-
-extern const pb_msgdesc_t VelocityCommand_msg;
-
-/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
-#define VelocityCommand_fields &VelocityCommand_msg
-
-/* Maximum encoded size of messages (where known) */
-#define VelocityCommand_size 10
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif
+++ /dev/null
-syntax = "proto3";
-
-message ConfigCommand {
- float left_kp = 1;
- float left_ki = 2;
- float left_kd = 3;
-
- float right_kp = 4;
- float right_ki = 5;
- float right_kd = 6;
-
- float cross_kp = 7;
- float cross_ki = 8;
- float cross_kd = 9;
-
- float baseline = 10;
-
- fixed32 ticks_per_revolution = 11;
- float right_wheel_circumference = 12;
- float left_wheel_circumference = 13;
-}
\ No newline at end of file
+++ /dev/null
-syntax = "proto3";
-
-message StatusMessage {
- required float linear_velocity = 1;
- required float angular_velocity = 2;
- required fixed64 delta_millis = 3;
- enum Status {
- UNKNOWN = 0;
- WAITING_CONFIG = 1;
- READY = 2;
- RUNNING = 3;
- H_BRIDGE_FAULT_1 = 4;
- H_BRIDGE_FAULT_2 = 5;
- UNKNOWN_ERROR = 6;
- }
- required Status status = 4;
-}
\ No newline at end of file
+++ /dev/null
-syntax = "proto3";
-
-message VelocityCommand {
- float linear_velocity = 1;
- float angular_velocity = 2;
-}
\ No newline at end of file
extern "C" {
#endif
-/* Enum definitions */
-typedef enum _StatusMessage_Status {
- StatusMessage_Status_UNKNOWN = 0,
- StatusMessage_Status_WAITING_CONFIG = 1,
- StatusMessage_Status_READY = 2,
- StatusMessage_Status_RUNNING = 3,
- StatusMessage_Status_H_BRIDGE_FAULT_1 = 4,
- StatusMessage_Status_H_BRIDGE_FAULT_2 = 5,
- StatusMessage_Status_UNKNOWN_ERROR = 6
-} StatusMessage_Status;
-
/* Struct definitions */
typedef struct _ConfigCommand {
float left_kp;
typedef struct _StatusMessage {
float linear_velocity;
float angular_velocity;
- uint64_t delta_millis;
- StatusMessage_Status status;
+ uint32_t delta_millis;
+ uint32_t status;
} StatusMessage;
typedef struct _VelocityCommand {
} VelocityCommand;
-/* Helper constants for enums */
-#define _StatusMessage_Status_MIN StatusMessage_Status_UNKNOWN
-#define _StatusMessage_Status_MAX StatusMessage_Status_UNKNOWN_ERROR
-#define _StatusMessage_Status_ARRAYSIZE ((StatusMessage_Status)(StatusMessage_Status_UNKNOWN_ERROR+1))
-
-
/* Initializer values for message structs */
-#define StatusMessage_init_default {0, 0, 0, _StatusMessage_Status_MIN}
+#define StatusMessage_init_default {0, 0, 0, 0}
#define ConfigCommand_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define VelocityCommand_init_default {0, 0}
-#define StatusMessage_init_zero {0, 0, 0, _StatusMessage_Status_MIN}
+#define StatusMessage_init_zero {0, 0, 0, 0}
#define ConfigCommand_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define VelocityCommand_init_zero {0, 0}
#define StatusMessage_FIELDLIST(X, a) \
X(a, STATIC, REQUIRED, FLOAT, linear_velocity, 1) \
X(a, STATIC, REQUIRED, FLOAT, angular_velocity, 2) \
-X(a, STATIC, REQUIRED, FIXED64, delta_millis, 3) \
-X(a, STATIC, REQUIRED, UENUM, status, 4)
+X(a, STATIC, REQUIRED, FIXED32, delta_millis, 3) \
+X(a, STATIC, REQUIRED, FIXED32, status, 4)
#define StatusMessage_CALLBACK NULL
#define StatusMessage_DEFAULT NULL
#define VelocityCommand_fields &VelocityCommand_msg
/* Maximum encoded size of messages (where known) */
-#define StatusMessage_size 21
+#define StatusMessage_size 20
#define ConfigCommand_size 65
#define VelocityCommand_size 10
syntax = "proto2";
-
+
+// Message sent from ST board to the computer
message StatusMessage {
required float linear_velocity = 1;
required float angular_velocity = 2;
- required fixed64 delta_millis = 3;
- enum Status {
- UNKNOWN = 0;
- WAITING_CONFIG = 1;
- READY = 2;
- RUNNING = 3;
- H_BRIDGE_FAULT_1 = 4;
- H_BRIDGE_FAULT_2 = 5;
- UNKNOWN_ERROR = 6;
- }
- required Status status = 4;
+ required fixed32 delta_millis = 3;
+ /*
+ Status code meanings:
+ 0 = UNKNOWN
+ 1 = WAITING_CONFIG
+ 2 = READY
+ 3 = RUNNING
+ 4 = H_BRIDGE_FAULT_1
+ 5 = H_BRIDGE_FAULT_2
+ 6 = UNKNOWN_ERROR
+
+ Note that enum is not used because it doesn't have a
+ fixed size
+ */
+ required fixed32 status = 4;
}
message ConfigCommand {
name='otto_communication.proto',
package='',
syntax='proto2',
- serialized_pb=_b('\n\x18otto_communication.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
+ serialized_pb=_b('\n\x18otto_communication.proto\"h\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x07\x12\x0e\n\x06status\x18\x04 \x02(\x07\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
)
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
- name='Status',
- full_name='StatusMessage.Status',
- filename=None,
- file=DESCRIPTOR,
- values=[
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN', index=0, number=0,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='WAITING_CONFIG', index=1, number=1,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='READY', index=2, number=2,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='RUNNING', index=3, number=3,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_1', index=4, number=4,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_2', index=5, number=5,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN_ERROR', index=6, number=6,
- options=None,
- type=None),
- ],
- containing_type=None,
- options=None,
- serialized_start=159,
- serialized_end=287,
-)
-_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
-
_STATUSMESSAGE = _descriptor.Descriptor(
name='StatusMessage',
options=None),
_descriptor.FieldDescriptor(
name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
- number=3, type=6, cpp_type=4, label=2,
+ number=3, type=7, cpp_type=3, label=2,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='status', full_name='StatusMessage.status', index=3,
- number=4, type=14, cpp_type=8, label=2,
+ number=4, type=7, cpp_type=3, label=2,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
],
nested_types=[],
enum_types=[
- _STATUSMESSAGE_STATUS,
],
options=None,
is_extendable=False,
extension_ranges=[],
oneofs=[
],
- serialized_start=29,
- serialized_end=287,
+ serialized_start=28,
+ serialized_end=132,
)
extension_ranges=[],
oneofs=[
],
- serialized_start=290,
- serialized_end=581,
+ serialized_start=135,
+ serialized_end=426,
)
extension_ranges=[],
oneofs=[
],
- serialized_start=583,
- serialized_end=651,
+ serialized_start=428,
+ serialized_end=496,
)
-_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
-_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
+++ /dev/null
-# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: config_command.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
- name='config_command.proto',
- package='',
- syntax='proto3',
- serialized_pb=_b('\n\x14\x63onfig_command.proto\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x01(\x02\x12\x0f\n\x07left_ki\x18\x02 \x01(\x02\x12\x0f\n\x07left_kd\x18\x03 \x01(\x02\x12\x10\n\x08right_kp\x18\x04 \x01(\x02\x12\x10\n\x08right_ki\x18\x05 \x01(\x02\x12\x10\n\x08right_kd\x18\x06 \x01(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x01(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x01(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x01(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x01(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x01(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x01(\x02\x12 \n\x18left_wheel_circumference\x18\r \x01(\x02\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_CONFIGCOMMAND = _descriptor.Descriptor(
- name='ConfigCommand',
- full_name='ConfigCommand',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='left_kp', full_name='ConfigCommand.left_kp', index=0,
- number=1, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_ki', full_name='ConfigCommand.left_ki', index=1,
- number=2, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_kd', full_name='ConfigCommand.left_kd', index=2,
- number=3, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_kp', full_name='ConfigCommand.right_kp', index=3,
- number=4, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_ki', full_name='ConfigCommand.right_ki', index=4,
- number=5, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_kd', full_name='ConfigCommand.right_kd', index=5,
- number=6, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
- number=7, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
- number=8, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
- number=9, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='baseline', full_name='ConfigCommand.baseline', index=9,
- number=10, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
- number=11, type=7, cpp_type=3, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
- number=12, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
- number=13, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=25,
- serialized_end=316,
-)
-
-DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
-
-ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
- DESCRIPTOR = _CONFIGCOMMAND,
- __module__ = 'config_command_pb2'
- # @@protoc_insertion_point(class_scope:ConfigCommand)
- ))
-_sym_db.RegisterMessage(ConfigCommand)
-
-
-# @@protoc_insertion_point(module_scope)
+++ /dev/null
-# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: status_message.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
- name='status_message.proto',
- package='',
- syntax='proto3',
- serialized_pb=_b('\n\x14status_message.proto\"\x86\x02\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x01(\x06\x12\'\n\x06status\x18\x04 \x01(\x0e\x32\x17.VelocityCommand.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-_VELOCITYCOMMAND_STATUS = _descriptor.EnumDescriptor(
- name='Status',
- full_name='VelocityCommand.Status',
- filename=None,
- file=DESCRIPTOR,
- values=[
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN', index=0, number=0,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='WAITING_CONFIG', index=1, number=1,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='READY', index=2, number=2,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='RUNNING', index=3, number=3,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_1', index=4, number=4,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_2', index=5, number=5,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN_ERROR', index=6, number=6,
- options=None,
- type=None),
- ],
- containing_type=None,
- options=None,
- serialized_start=159,
- serialized_end=287,
-)
-_sym_db.RegisterEnumDescriptor(_VELOCITYCOMMAND_STATUS)
-
-
-_VELOCITYCOMMAND = _descriptor.Descriptor(
- name='VelocityCommand',
- full_name='VelocityCommand',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
- number=1, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
- number=2, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='delta_millis', full_name='VelocityCommand.delta_millis', index=2,
- number=3, type=6, cpp_type=4, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='status', full_name='VelocityCommand.status', index=3,
- number=4, type=14, cpp_type=8, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- _VELOCITYCOMMAND_STATUS,
- ],
- options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=25,
- serialized_end=287,
-)
-
-_VELOCITYCOMMAND.fields_by_name['status'].enum_type = _VELOCITYCOMMAND_STATUS
-_VELOCITYCOMMAND_STATUS.containing_type = _VELOCITYCOMMAND
-DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
-
-VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
- DESCRIPTOR = _VELOCITYCOMMAND,
- __module__ = 'status_message_pb2'
- # @@protoc_insertion_point(class_scope:VelocityCommand)
- ))
-_sym_db.RegisterMessage(VelocityCommand)
-
-
-# @@protoc_insertion_point(module_scope)
+++ /dev/null
-# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: velocity_command.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
- name='velocity_command.proto',
- package='',
- syntax='proto3',
- serialized_pb=_b('\n\x16velocity_command.proto\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_VELOCITYCOMMAND = _descriptor.Descriptor(
- name='VelocityCommand',
- full_name='VelocityCommand',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
- number=1, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
- number=2, type=2, cpp_type=6, label=1,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=26,
- serialized_end=94,
-)
-
-DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
-
-VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
- DESCRIPTOR = _VELOCITYCOMMAND,
- __module__ = 'velocity_command_pb2'
- # @@protoc_insertion_point(class_scope:VelocityCommand)
- ))
-_sym_db.RegisterMessage(VelocityCommand)
-
-
-# @@protoc_insertion_point(module_scope)
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
- rtscts=False,
+ rtscts=True,
exclusive=None)
while (ser.is_open == False):
- try:
- ser.port = '/dev/ttyUSB0'
- ser.open()
- except SerialException:
- print("couldn't open ttyUSB0, check the connection")
- time.sleep(2)
+ try:
+ ser.port = '/dev/ttyUSB1'
+ ser.open()
+ except SerialException:
+ print("couldn't open ttyUSB1, check the connection")
+ time.sleep(2)
print("port open")
-
+ser.reset_input_buffer()
+ser.rts = False
while 1:
- ser.reset_input_buffer()
- buffer = ser.read(8)
- msg_received = struct.unpack('<ff', buffer)
- print(msg_received)
- print(buffer)
+ ser.reset_input_buffer()
+ buffer = ser.read(4)
+ msg_received = struct.unpack('i', buffer)
+ print(msg_received)
+ print(buffer)
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
- rtscts=False,
+ rtscts=True,
exclusive=None)
while (ser.is_open == False):
try:
time.sleep(2)
print("open port")
-
-my_velocity = otto_communication_pb2.VelocityCommand()
-my_velocity.linear_velocity = 0.3
-my_velocity.angular_velocity = 0.0
+ser.reset_output_buffer()
+ciao = 5
while 1:
- print(ang_vel_cmd)
- print(lin_vel_cmd)
- ang_vel_cmd = ang_vel_cmd + 0.1
- lin_vel_cmd = lin_vel_cmd + 0.1
- msg_output_buffer = struct.pack('<ff', lin_vel_cmd, ang_vel_cmd)
- ser.write(msg_output_buffer)
- ser.reset_output_buffer()
+ msg_output_buffer = struct.pack('i', ciao)
+ print (ser.cts)
+ if (ser.cts == True):
+ ser.write(msg_output_buffer)
+ print(msg_output_buffer)
+ ser.reset_output_buffer()
+ ciao = ciao + 1
+ time.sleep(5)
\ No newline at end of file
projects / pioneer-stm32 / commitdiff