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<h1>clodbuster.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">/*</span>
<a name="l00024"></a>00024 <span class="comment"> * $Id: clodbuster.h 7208 2008-12-19 02:10:56Z gbiggs $</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * the clodbuster device. there's a thread here that</span>
<a name="l00027"></a>00027 <span class="comment"> * actually interacts with grasp board via the serial line. the other</span>
<a name="l00028"></a>00028 <span class="comment"> * "devices" communicate with this thread by putting into and getting</span>
<a name="l00029"></a>00029 <span class="comment"> * data out of shared buffers.</span>
<a name="l00030"></a>00030 <span class="comment"> */</span>
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef _CLODBUSTERDEVICE_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define _CLODBUSTERDEVICE_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <pthread.h></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <sys/time.h></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">/* data for the clodbuster */</span>
<a name="l00040"></a>00040 <span class="preprocessor">#define CLODBUSTER_CYCLETIME_USEC 50000</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a>00042 <span class="comment">/* Grasp Board Command numbers */</span>
<a name="l00043"></a>00043 <span class="preprocessor">#define SYNC 255</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span>
<a name="l00045"></a>00045 <span class="preprocessor">#define SET_SERVO_THROTTLE 0</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define SET_SERVO_FRONTSTEER 1</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define SET_SERVO_BACKSTEER 2</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#define SET_SERVO_PAN 3</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span>
<a name="l00050"></a>00050 <span class="preprocessor">#define ECHO_SERVO_VALUES 64 // 0x40</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_MAX_SERVO_LIMITS 65 //0x41</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_MIN_SERVO_LIMITS 66 //0x42</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_CEN_SERVO_LIMITS 67 //0x43</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span>
<a name="l00055"></a>00055 <span class="preprocessor">#define ECHO_ENCODER_COUNTS 112 // 0x70</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_ENCODER_COUNTS_TS 113 // 0x71</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_ADC 128 //0x80</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define READ_ID 97</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span>
<a name="l00060"></a>00060 <span class="preprocessor">#define SET_SLEEP_MODE 144 // 0x90</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#define ECHO_SLEEP_MODE 145 // 0x91</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span>
<a name="l00063"></a>00063 <span class="preprocessor">#define SLEEP_MODE_ON 1</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define SLEEP_MODE_OFF 0</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
<a name="l00066"></a>00066 <span class="preprocessor">#define SERVO_CHANNELS 8</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span>
<a name="l00068"></a>00068 <span class="comment">// I think this might be useful.. so leaving it in for the time being</span>
<a name="l00069"></a>00069 <span class="comment">/* Argument types */</span>
<a name="l00070"></a>00070 <span class="preprocessor">#define ARGINT 0x3B // Positive int (LSB, MSB)</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define ARGNINT 0x1B // Negative int (LSB, MSB)</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define ARGSTR 0x2B // String (Note: 1st byte is length!!)</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span>
<a name="l00074"></a>00074 <span class="preprocessor">#define CLODBUSTER_CONFIG_BUFFER_SIZE 256</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span>
<a name="l00076"></a>00076 <span class="preprocessor">#define DEFAULT_CLODBUSTER_PORT "/dev/ttyUSB0" // This has to be USB - serial port.</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span>
<a name="l00078"></a><a class="code" href="structclodbuster__encoder__data.html">00078</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structclodbuster__encoder__data.html">clodbuster_encoder_data</a>
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 uint32_t time_count;
<a name="l00081"></a>00081 int32_t left,right;
<a name="l00082"></a>00082 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) clodbuster_encoder_data_t;
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classPIDGains.html">00084</a> class <a class="code" href="classPIDGains.html">PIDGains</a>
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <span class="keyword">private</span>:
<a name="l00087"></a>00087 <span class="keywordtype">float</span> kp, ki, kd, freq, k1, k2, k3;
<a name="l00088"></a>00088 <span class="keywordtype">void</span> findK()
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordtype">float</span> T=1.0/freq;
<a name="l00091"></a>00091 k1 = kp + .5*T*ki + kd/T;
<a name="l00092"></a>00092 k2 = -kp - 2.0*kd/T + .5*ki*T;
<a name="l00093"></a>00093 k3 = kd/T;
<a name="l00094"></a>00094 printf(<span class="stringliteral">"Gain constants set to K1 = %f, K2 = %f, K3 = %f\n"</span>,k1,k2,k3);
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096 <span class="keyword">public</span>:
<a name="l00097"></a>00097 PIDGains(<span class="keywordtype">float</span> kp_, <span class="keywordtype">float</span> ki_, <span class="keywordtype">float</span> kd_, <span class="keywordtype">float</span> freq_)
<a name="l00098"></a>00098 :kp(kp_), ki(ki_), kd(kd_),freq(freq_)
<a name="l00099"></a>00099 {
<a name="l00100"></a>00100 findK();
<a name="l00101"></a>00101 };
<a name="l00102"></a>00102 <span class="comment">//~PIDGains();</span>
<a name="l00103"></a>00103 <span class="keywordtype">void</span> SetKp(<span class="keywordtype">float</span> k)
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 kp=k;
<a name="l00106"></a>00106 findK();
<a name="l00107"></a>00107 };
<a name="l00108"></a>00108 <span class="keywordtype">void</span> SetKi(<span class="keywordtype">float</span> k)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 ki=k;
<a name="l00111"></a>00111 findK();
<a name="l00112"></a>00112 };
<a name="l00113"></a>00113 <span class="keywordtype">void</span> SetKd(<span class="keywordtype">float</span> k)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 kd=k;
<a name="l00116"></a>00116 findK();
<a name="l00117"></a>00117 };
<a name="l00118"></a>00118 <span class="keywordtype">void</span> SetFreq(<span class="keywordtype">float</span> f)
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120 freq=f;
<a name="l00121"></a>00121 findK();
<a name="l00122"></a>00122 };
<a name="l00123"></a>00123 <span class="keywordtype">float</span> K1(){<span class="keywordflow">return</span>(k1);};
<a name="l00124"></a>00124 <span class="keywordtype">float</span> K2(){<span class="keywordflow">return</span>(k2);};
<a name="l00125"></a>00125 <span class="keywordtype">float</span> K3(){<span class="keywordflow">return</span>(k3);};
<a name="l00126"></a>00126 };
<a name="l00127"></a>00127
<a name="l00128"></a><a class="code" href="classClodBuster.html">00128</a> <span class="keyword">class </span><a class="code" href="classClodBuster.html">ClodBuster</a>:<span class="keyword">public</span> <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a>
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130 <span class="keyword">private</span>:
<a name="l00131"></a>00131 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position_data;
<a name="l00132"></a>00132 <span class="keywordtype">void</span> ResetRawPositions();
<a name="l00133"></a>00133 clodbuster_encoder_data_t ReadEncoders();
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="keywordtype">int</span> clodbuster_fd; <span class="comment">// clodbuster device file descriptor</span>
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="comment">// device used to communicate with GRASP IO Board</span>
<a name="l00138"></a>00138 <span class="keywordtype">char</span> clodbuster_serial_port[MAX_FILENAME_SIZE];
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keywordtype">int</span> kp,ki,kd;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="comment">// did we initialize the common data segments yet?</span>
<a name="l00143"></a>00143 <span class="keywordtype">bool</span> initdone;
<a name="l00144"></a>00144 clodbuster_encoder_data_t encoder_offset;
<a name="l00145"></a>00145 clodbuster_encoder_data_t encoder_measurement;
<a name="l00146"></a>00146 clodbuster_encoder_data_t old_encoder_measurement;
<a name="l00147"></a>00147 <span class="keywordtype">float</span> EncV, EncOmega, EncVleft, EncVright;
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <span class="keywordtype">bool</span> direct_command_control;
<a name="l00150"></a>00150 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max_limits[SERVO_CHANNELS],center_limits[SERVO_CHANNELS],min_limits[SERVO_CHANNELS];
<a name="l00151"></a>00151 <span class="keywordtype">void</span> GetGraspBoardParams();
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">// CB geometry parameters</span>
<a name="l00154"></a>00154 <span class="keywordtype">float</span> WheelRadius;
<a name="l00155"></a>00155 <span class="keywordtype">float</span> WheelBase;
<a name="l00156"></a>00156 <span class="keywordtype">float</span> WheelSeparation;
<a name="l00157"></a>00157 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> CountsPerRev;
<a name="l00158"></a>00158 <span class="keywordtype">float</span> Kenc; <span class="comment">// counts --> distance traveled</span>
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="comment">// control parameters</span>
<a name="l00161"></a>00161 <span class="keywordtype">float</span> LoopFreq;
<a name="l00162"></a>00162 <a class="code" href="classPIDGains.html">PIDGains</a> *Kv, *Kw;
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="keywordtype">void</span> IntegrateEncoders();
<a name="l00165"></a>00165 <span class="keywordtype">void</span> DifferenceEncoders();
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="keyword">protected</span>:
<a name="l00168"></a>00168
<a name="l00169"></a>00169 <span class="comment">// Max motor speeds</span>
<a name="l00170"></a>00170 <span class="keywordtype">int</span> motor_max_speed;
<a name="l00171"></a>00171 <span class="keywordtype">int</span> motor_max_turnspeed;
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="comment">// Bound the command velocities</span>
<a name="l00174"></a>00174 <span class="keywordtype">bool</span> use_vel_band;
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordtype">short</span> speedDemand, turnRateDemand;
<a name="l00177"></a>00177 <span class="keywordtype">bool</span> newmotorspeed, newmotorturn;
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keyword">public</span>:
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <a class="code" href="classClodBuster.html">ClodBuster</a>( <a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section);
<a name="l00182"></a>00182 <span class="keyword">virtual</span> ~<a class="code" href="classClodBuster.html">ClodBuster</a>();
<a name="l00183"></a>00183
<a name="l00184"></a>00184 <span class="comment">/* the main thread */</span>
<a name="l00185"></a>00185 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classClodBuster.html#a17e7205d0e32302d52aa4dc1ef0d6c5e" title="Main method for driver thread.">Main</a>();
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// Process incoming messages from clients</span>
<a name="l00188"></a>00188 <span class="keywordtype">int</span> <a class="code" href="classClodBuster.html#aae4c6405f68dba4402aea3d95e641c4f" title="Message handler.">ProcessMessage</a> (<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classClodBuster.html#a28abb1398c81d200906d358c207abcd0" title="Sets up the resources needed by the driver thread.">MainSetup</a>();
<a name="l00191"></a>00191 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classClodBuster.html#ad46b7e3b71d424825a90cef4b8817b55" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>();
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> SetServo(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> chan, <span class="keywordtype">int</span> value);
<a name="l00194"></a>00194 <span class="keywordtype">void</span> SetServo(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> chan, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cmd);
<a name="l00195"></a>00195 <span class="comment">/*</span>
<a name="l00196"></a>00196 <span class="comment"> void CMUcamReset();</span>
<a name="l00197"></a>00197 <span class="comment"> void CMUcamTrack(int rmin=0, int rmax=0, int gmin=0,</span>
<a name="l00198"></a>00198 <span class="comment"> int gmax=0, int bmin=0, int bmax=0);</span>
<a name="l00199"></a>00199 <span class="comment"> void CMUcamStopTracking();</span>
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> */</span> <span class="comment">// don't want to have this right now.. but maybe eventually.</span>
<a name="l00202"></a>00202 };
<a name="l00203"></a>00203
<a name="l00204"></a>00204
<a name="l00205"></a>00205 <span class="preprocessor">#endif</span>
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