Jun KOBAYASHI / Mbed OS dcmotor_control_sabertooth_rosserial

This code is for controlling DC motors with a Sabertooth 2x25 V2 motor driver produced by Dimension Engineering. You can drive DC motors via serial communication or rosserial.

Dependencies:   ros_lib_kinetic QEI

Files at this revision

API Documentation at this revision

Revision 6:ad25826cc7e0, committed 2018-03-28

Comitter:
jkoba0512
Date:
Wed Mar 28 00:34:50 2018 +0000
Parent:
5:5b7b5542434c
Commit message:
PI gains are obtained from ROS parameter server

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Mar 23 01:58:36 2018 +0000
+++ b/main.cpp	Wed Mar 28 00:34:50 2018 +0000
@@ -140,11 +140,11 @@
 }
 ros::Subscriber<std_msgs::Int32> desired_enc_pulse_count_rate_ch1_sub("desired_enc_pulse_count_rate_ch1", &message_desired_enc_pulse_count_rate_ch1);
 
+// PI gains obtained from ROS parameter server
+float Kp_v;
+float Ki_v;    
+
 void feedback_control() {
-    // PI gains
-    const float Kp_v = 0.1;
-    const float Ki_v = 0.1;
-    
     // encoder pulse count rate error
     int enc_pulse_count_rate_error[2];
     
@@ -299,6 +299,10 @@
     nh.advertise(desired_enc_pulse_count_rate_ch1_current_pub);
     nh.subscribe(desired_enc_pulse_count_rate_ch0_sub);
     nh.subscribe(desired_enc_pulse_count_rate_ch1_sub);
+    
+    // obtain PI gains from ROS parameter server
+    if (!nh.getParam("/dcmotor_control_sabertooth_rosserial/Kp_v", &Kp_v, 1)) Kp_v = 0.0;
+    if (!nh.getParam("/dcmotor_control_sabertooth_rosserial/Ki_v", &Ki_v, 1)) Ki_v = 0.0;
 #endif  // FEEDBACK_ON
 #endif  // ENCODER_ON
 #endif  // SERIAL_COM_MODE