UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

ros_functions.cpp@0:3a767f41cf04, 2018-01-31 (annotated)

Committer:
group-UVic-Assistive-Technolog
Date:
Wed Jan 31 05:24:12 2018 +0000
Revision:
0:3a767f41cf04
Child:
2:0537a8007a39
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #include <ros_functions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 3 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 #include <ros.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 #include <std_msgs/Empty.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 #include <std_msgs/Float32MultiArray.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 7 #include <prototypes.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 8
group-UVic-Assistive-Technolog 0:3a767f41cf04 9
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 void module_commandCB(const std_msgs::Float32MultiArray& command_data){
group-UVic-Assistive-Technolog 0:3a767f41cf04 11
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 rosInput.yaw = command_data.data[ROSYAW];
group-UVic-Assistive-Technolog 0:3a767f41cf04 13 rosInput.pitch = command_data.data[ROSPITCH];
group-UVic-Assistive-Technolog 0:3a767f41cf04 14 rosInput.roll = command_data.data[ROSROLL];
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 rosInput.height = command_data.data[ROSHEIGHT];
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 rosInput.mode = command_data.data[ROSMODE];
group-UVic-Assistive-Technolog 0:3a767f41cf04 17
group-UVic-Assistive-Technolog 0:3a767f41cf04 18 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 19
group-UVic-Assistive-Technolog 0:3a767f41cf04 20 void rosCheck(){
group-UVic-Assistive-Technolog 0:3a767f41cf04 21 if (rosFlag){
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 rosFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 if(rosInput.mode == 0){ //Transport Mode
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 control.yaw = YAWZERO;
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 control.pitch = PITCHZERO;
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 control.roll = ROLLZERO;
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 if(control.height != LIFTHEIGHTMIN){
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 control.height = LIFTHEIGHTMIN;
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 control.liftRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 else if(rosInput.mode == 1){ //Photo Mode
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 switch(rosInput.height){
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 case(1):
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 control.height = control.height + 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 control.liftRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 if(control.height > LIFTHEIGHTMAX){
group-UVic-Assistive-Technolog 0:3a767f41cf04 39 control.height = LIFTHEIGHTMAX;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 40 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 41 case(2):
group-UVic-Assistive-Technolog 0:3a767f41cf04 42 control.height = control.height - 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 control.liftRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 if(control.height < LIFTHEIGHTMIN){
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 control.height = LIFTHEIGHTMIN;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 case(0):
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 control.height = currentPosition;
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 switch(rosInput.yaw){
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 case(1):
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 control.yaw = control.yaw + 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 if(control.yaw > YAWMAX){
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 control.yaw = YAWMAX;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 case(2):
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 control.yaw = control.yaw - 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 if(control.yaw < YAWMIN){
group-UVic-Assistive-Technolog 0:3a767f41cf04 62 control.yaw = YAWMIN;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 case(0):
group-UVic-Assistive-Technolog 0:3a767f41cf04 65 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 66 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 switch(rosInput.pitch){
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 case(1):
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 control.pitch = control.pitch + 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 70 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 71 if(control.pitch > PITCHMAX){
group-UVic-Assistive-Technolog 0:3a767f41cf04 72 control.pitch = PITCHMAX;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 73 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 74 case(2):
group-UVic-Assistive-Technolog 0:3a767f41cf04 75 control.pitch = control.pitch - 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 76 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 77 if(control.pitch < PITCHMIN){
group-UVic-Assistive-Technolog 0:3a767f41cf04 78 control.pitch = PITCHMIN;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 79 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 80 case(0):
group-UVic-Assistive-Technolog 0:3a767f41cf04 81 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 82 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 83 switch(rosInput.roll){
group-UVic-Assistive-Technolog 0:3a767f41cf04 84 case(1):
group-UVic-Assistive-Technolog 0:3a767f41cf04 85 control.roll = control.roll + 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 86 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 87 if(control.roll > ROLLMAX){
group-UVic-Assistive-Technolog 0:3a767f41cf04 88 control.roll = ROLLMAX;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 89 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 90 case(2):
group-UVic-Assistive-Technolog 0:3a767f41cf04 91 control.roll = control.roll - 50;
group-UVic-Assistive-Technolog 0:3a767f41cf04 92 control.gimbalRun = TRUE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 93 if(control.roll < ROLLMIN){
group-UVic-Assistive-Technolog 0:3a767f41cf04 94 control.roll = ROLLMIN;}
group-UVic-Assistive-Technolog 0:3a767f41cf04 95 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 96 case(0):
group-UVic-Assistive-Technolog 0:3a767f41cf04 97 break;
group-UVic-Assistive-Technolog 0:3a767f41cf04 98 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 99 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 100 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 101 }