ev3_joint_settings.h

/*
 * This file (ev3_joint_settings.h) is part of h4r_ev3_manager.
 * Date: 16.11.2015
 *
 * Author: Christian Holl
 * http://github.com/Hacks4ROS
 *
 * h4r_ev3_manager is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * h4r_ev3_manager is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with h4r_ev3_joint_setup.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef EV3_JOINT_SETTINGS_H_
#define EV3_JOINT_SETTINGS_H_

#include <h4r_ev3_control/H4REv3Port.h>

namespace ev3_control {
class Ev3JointSettings
{

public:

    typedef enum
    {
        EV3_JOINT_OFF,
        EV3_JOINT_POSITION,
        EV3_JOINT_VELOCITY,
    } Ev3JointMode;

    class Ev3HwSettings
    {
    public:
        Ev3HwSettings()
        :joint_mode(EV3_JOINT_VELOCITY)
        {}

        Ev3JointMode joint_mode;
        std::string driver_name;
        std::vector<double> pid;
    };


    H4REv3Motor port;
    Ev3HwSettings ev3settings;

    double command;
    double last_command;
    double velocity_out;
    double position_out;
    double effort_out; //not supported by ev3 afaik but needed for joint state handle

    Ev3JointSettings(const std::string &out_port)
    :port(out_port)
    ,command(0)
    ,last_command(0)
    ,velocity_out(0)
    ,position_out(0)
    ,effort_out(0)
    {}


    bool load(const Ev3HwSettings &settings, bool testOnly)
    {


        if(!testOnly)
        {
            port.setMotorCommand(Ev3Strings::EV3MOTORCOMMANDS_RESET);
        }


        ROS_INFO_STREAM("PID "<<settings.pid[0]
                              <<" "<<settings.pid[1]
                              <<" "<<settings.pid[2]);
        //Setting motor PIDs
        port.setSpeedPID_Kp(settings.pid[0]);
        port.setSpeedPID_Ki(settings.pid[1]);
        port.setSpeedPID_Kd(settings.pid[2]);


        return true;
    }

    bool write()
    {

        if(!port.isConnected())
        {
            last_command = 0; //Reset last command for user pluging it in again.
            return false;
        }

        if(last_command == command)
        {
            return true;
        }
        else
        {
            last_command=command;
        }


        int cmd=(command*180.0/M_PI);

        if(cmd>0)
        {
            if(!port.setMotorPolarity(Ev3Strings::EV3POLARITY_NORMAL))
            {
                ROS_ERROR("NORMAL!");
                return false;
            }
        }
        else if(cmd<0)
        {
            cmd=-cmd;
            if(!port.setMotorPolarity(Ev3Strings::EV3POLARITY_INVERSED))
            {
                ROS_ERROR("INVERSED!");
                return false;
            }
        }
            switch(ev3settings.joint_mode)
            {

            case Ev3JointSettings::EV3_JOINT_POSITION:

                if
                (
                        port.setDutyCycleSP(100)+
                        port.setPositionSP(cmd)+
                        port.setSpeedRegulation(Ev3Strings::EV3SWITCH_OFF)+
                        port.setMotorCommand(Ev3Strings::EV3MOTORCOMMANDS_RUN_TO_ABS_POS)
                        !=4
                )
                {
                    return false;
                }

                break;

            case Ev3JointSettings::EV3_JOINT_VELOCITY:
            {
                if(cmd==0)
                {
                    return port.setMotorCommand(Ev3Strings::EV3MOTORCOMMANDS_STOP);
                }
                else
                {

                    if
                    (
                    port.setDutyCycleSP(100)+
                    port.setSpeedSP(cmd)+
                    port.setSpeedRegulation(Ev3Strings::EV3SWITCH_ON)+
                    port.setMotorCommand(Ev3Strings::EV3MOTORCOMMANDS_RUN_FOREVER)
                        != 4
                    )
                    return false;
                }
            }
                break;

            default:
                break;
            }

            return true;
    }

    bool read()
    {
        if(!port.isConnected())
            return false;

        int pos;
        int vel;

        if(
                port.position(pos)+port.speed(vel)  == 2
          )
        {
            velocity_out=((double)vel)/180.0*M_PI;
            position_out=((double)pos)/180.0*M_PI;
            return true;
        }
        else
        {
            return false;
        }
    }

};

}

#endif /* EV3_JOINT_SETTINGS_H_ */