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arduino_mecanum_node.cpp
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arduino_mecanum_node.cpp
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#include <ros.h>
#include <Arduino.h>
#include <std_msgs/Float64.h>
#include <math.h>
#define FR 38
#define FL 65
#define BR 50
#define BL 81
int flSpeed = 2;
int flDirn1 = 23;
int flDirn2 = 22;
int frSpeed = 3;
int frDirn1 = 25;
int frDirn2 = 24;
int blSpeed = 4;
int blDirn1 = 27;
int blDirn2 = 26;
int brSpeed = 5;
int brDirn1 = 29;
int brDirn2 = 28;
float angle;
float distance;
ros::NodeHandle nh;
void straight(float rpmr,float rpml)
{
digitalWrite(flDirn1, HIGH);
digitalWrite(flDirn2, LOW);
digitalWrite(frDirn1, HIGH);
digitalWrite(frDirn2, LOW);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, HIGH);
digitalWrite(blDirn2, LOW);
digitalWrite(brDirn1, HIGH);
digitalWrite(brDirn2, LOW);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void backward(float rpmr,float rpml)
{
digitalWrite(flDirn1, LOW);
digitalWrite(flDirn2, HIGH);
digitalWrite(frDirn1, LOW);
digitalWrite(frDirn2, HIGH);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, LOW);
digitalWrite(blDirn2, HIGH);
digitalWrite(brDirn1, LOW);
digitalWrite(brDirn2, HIGH);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void turn_left(float rpmr,float rpml)
{
digitalWrite(flDirn1, LOW);
digitalWrite(flDirn2, HIGH);
digitalWrite(frDirn1, HIGH);
digitalWrite(frDirn2, LOW);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, LOW);
digitalWrite(blDirn2, HIGH);
digitalWrite(brDirn1, HIGH);
digitalWrite(brDirn2, LOW);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void turn_right(float rpmr,float rpml)
{
digitalWrite(flDirn1, HIGH);
digitalWrite(flDirn2, LOW);
digitalWrite(frDirn1, LOW);
digitalWrite(frDirn2, HIGH);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, HIGH);
digitalWrite(blDirn2, LOW);
digitalWrite(brDirn1, LOW);
digitalWrite(brDirn2, HIGH);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void sideway_right(float rpmr,float rpml)
{
digitalWrite(flDirn1, HIGH);
digitalWrite(flDirn2, LOW);
digitalWrite(frDirn1, LOW);
digitalWrite(frDirn2, HIGH);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, LOW);
digitalWrite(blDirn2, HIGH);
digitalWrite(brDirn1, HIGH);
digitalWrite(brDirn2, LOW);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void sideway_left(float rpmr,float rpml)
{
digitalWrite(flDirn1, LOW);
digitalWrite(flDirn2, HIGH);
digitalWrite(frDirn1, HIGH);
digitalWrite(frDirn2, LOW);
analogWrite(flSpeed, (int)(FL*rpml));
analogWrite(frSpeed, (int)(FR*rpmr));
digitalWrite(blDirn1, HIGH);
digitalWrite(blDirn2, LOW);
digitalWrite(brDirn1, LOW);
digitalWrite(brDirn2, HIGH);
analogWrite(blSpeed, (int)(BL*rpml));
analogWrite(brSpeed, (int)(BR*rpmr));
}
void distance_callback(const std_msgs::Float64 &dist)
{
float distance = dist.data;
//nh.loginfo("Dist: %f",val);
int distlim = 10;
float rpmr=2,rpml=2;
//if(distance>50)
//{
if (distance < -distlim)
{
sideway_right(rpmr,rpml);
nh.loginfo("sideway right...");
}
else if (distance > distlim)
{
sideway_left(rpmr,rpml);
nh.loginfo("sideway left...");
}
else
{
straight(rpmr,rpml);
}
//}
}
void angle_callback(const std_msgs::Float64 &theta)
{
float angle = theta.data;
//nh.loginfo("Angle: %f",val);
int thetlim = 10;
float rpmr=0,rpml=0;
//if(distance<=50)
//{
if (angle < -thetlim)
{
rpmr=0;
rpml=1.5;
turn_right(rpmr,rpml);
nh.loginfo("turning right...");
}
else if (angle > thetlim)
{
rpmr=1.5;
rpml=0;
turn_left(rpmr,rpml);
nh.loginfo("turning left...");
}
else
{
rpmr=1.5;
rpml=1.5;
straight(rpmr,rpml);
}
//}
}
ros::Subscriber<std_msgs::Float64> sub_angle("/robocon2018/angle", &angle_callback);
ros::Subscriber<std_msgs::Float64> sub_distance("/robocon2018/distance", &distance_callback);
void setup()
{
// put your setup code here, to run once:
pinMode(flDirn1, OUTPUT);
pinMode(flDirn2, OUTPUT);
pinMode(flSpeed, OUTPUT);
pinMode(frDirn1, OUTPUT);
pinMode(frDirn2, OUTPUT);
pinMode(frSpeed, OUTPUT);
pinMode(blDirn1, OUTPUT);
pinMode(blDirn2, OUTPUT);
pinMode(blSpeed, OUTPUT);
pinMode(brDirn1, OUTPUT);
pinMode(brDirn2, OUTPUT);
pinMode(brSpeed, OUTPUT);
nh.initNode();
nh.subscribe(sub_angle);
//nh.subscribe(sub_distance);
}
void loop()
{
nh.spinOnce();
}