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micro_ros_motor_ctrl.c
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micro_ros_motor_ctrl.c
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#include <stdio.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rcl/error_handling.h>
#include <std_msgs/msg/int32.h>
#include <std_msgs/msg/int16.h>
#include <geometry_msgs/msg/twist.h>
#include <rmw_microros/rmw_microros.h>
#include "pico/stdlib.h"
#include "pico/multicore.h"
#include "include/micro_ros_motor_ctrl/mecanumbot.h"
#include "include/micro_ros_motor_ctrl/pico_uart_transports.h"
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n\r",__LINE__,(int)temp_rc); return 1;}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n\r",__LINE__,(int)temp_rc);}}
struct Mecanumbot *mecanumbot;
rcl_publisher_t pubFrontRightTicks;
rcl_publisher_t pubFrontLeftTicks;
rcl_publisher_t pubRearRightTicks;
rcl_publisher_t pubRearLeftTicks;
rcl_subscription_t subscriber;
geometry_msgs__msg__Twist twist_msg;
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&pubFrontRightTicks, &mecanumbot->motor1->encoderTickCount, NULL));
RCSOFTCHECK(rcl_publish(&pubFrontLeftTicks, &mecanumbot->motor2->encoderTickCount, NULL));
RCSOFTCHECK(rcl_publish(&pubRearRightTicks, &mecanumbot->motor3->encoderTickCount, NULL));
RCSOFTCHECK(rcl_publish(&pubRearLeftTicks, &mecanumbot->motor4->encoderTickCount, NULL));
}
}
void subscription_callback(const void * msgin)
{
geometry_msgs__msg__Twist * msg = (geometry_msgs__msg__Twist *) msgin;
set_direction(mecanumbot, msg->linear.x, msg->angular.z);
}
void wheel1_enc_tick(void){
if (gpio_get_irq_event_mask(BRIDGE1_ENCA) & GPIO_IRQ_EDGE_RISE) {
gpio_acknowledge_irq(BRIDGE1_ENCA, GPIO_IRQ_EDGE_RISE);
get_encoder_data(mecanumbot->motor1);
}
}
void wheel2_enc_tick(void){
if (gpio_get_irq_event_mask(BRIDGE1_ENCB) & GPIO_IRQ_EDGE_RISE) {
gpio_acknowledge_irq(BRIDGE1_ENCB, GPIO_IRQ_EDGE_RISE);
get_encoder_data(mecanumbot->motor2);
}
}
void wheel3_enc_tick(void){
if (gpio_get_irq_event_mask(BRIDGE2_ENCA) & GPIO_IRQ_EDGE_RISE) {
gpio_acknowledge_irq(BRIDGE2_ENCA, GPIO_IRQ_EDGE_RISE);
get_encoder_data(mecanumbot->motor3);
}
}
void wheel4_enc_tick(void){
if (gpio_get_irq_event_mask(BRIDGE2_ENCB) & GPIO_IRQ_EDGE_RISE) {
gpio_acknowledge_irq(BRIDGE2_ENCB, GPIO_IRQ_EDGE_RISE);
get_encoder_data(mecanumbot->motor4);
}
}
int main()
{
rmw_uros_set_custom_transport(
true,
NULL,
pico_serial_transport_open,
pico_serial_transport_close,
pico_serial_transport_write,
pico_serial_transport_read
);
stdio_init_all();
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART);
gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART);
// // Turn off FIFO's - we want to do this character by character
// uart_set_fifo_enabled(UART_ID, false);
gpio_put(PICO_DEFAULT_LED_PIN, 1);
gpio_set_irq_enabled(BRIDGE1_ENCA, GPIO_IRQ_EDGE_RISE, true);
gpio_set_irq_enabled(BRIDGE1_ENCB, GPIO_IRQ_EDGE_RISE, true);
gpio_set_irq_enabled(BRIDGE2_ENCA, GPIO_IRQ_EDGE_RISE, true);
gpio_set_irq_enabled(BRIDGE2_ENCB, GPIO_IRQ_EDGE_RISE, true);
gpio_add_raw_irq_handler(BRIDGE1_ENCA, wheel1_enc_tick);
gpio_add_raw_irq_handler(BRIDGE1_ENCB, wheel2_enc_tick);
gpio_add_raw_irq_handler(BRIDGE2_ENCA, wheel3_enc_tick);
gpio_add_raw_irq_handler(BRIDGE2_ENCB, wheel4_enc_tick);
irq_set_enabled(IO_IRQ_BANK0, true);
// multicore_launch_core1(core1_entry);
mecanumbot = mecanumbot_init();
rclc_support_t support;
rcl_allocator_t allocator = rcl_get_default_allocator();
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
const int timeout_ms = 1000;
const uint8_t attempts = 120;
RCCHECK(rmw_uros_ping_agent(timeout_ms, attempts));
// Node 0 - Motor Controller
rcl_node_t node0;
RCCHECK(rclc_node_init_default(&node0, "motor_controller", "", &support));
RCCHECK(rclc_subscription_init_default(
&subscriber,
&node0,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"cmd_vel"
));
rclc_executor_t executor0 = rclc_executor_get_zero_initialized_executor();
RCCHECK(rclc_executor_init(&executor0, &support.context, 1, &allocator));
RCCHECK(rclc_executor_add_subscription(
&executor0,
&subscriber,
&twist_msg,
&subscription_callback,
ON_NEW_DATA
));
// Node 1 - Wheel Encoder Ticks
rcl_node_t node1;
RCCHECK(rclc_node_init_default(&node1, "wheel_encoder_ticks", "", &support));
(rclc_publisher_init_default(&pubFrontRightTicks, &node1, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int16), "front_right_ticks"));
(rclc_publisher_init_default(&pubFrontLeftTicks, &node1, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int16), "front_left_ticks"));
(rclc_publisher_init_default(&pubRearRightTicks, &node1, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int16), "rear_right_ticks"));
(rclc_publisher_init_default(&pubRearLeftTicks, &node1, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int16), "rear_left_ticks"));
rcl_timer_t timer;
const unsigned int timer_period = RCL_MS_TO_NS(100);
RCCHECK(rclc_timer_init_default(&timer, &support, timer_period, timer_callback));
rclc_executor_t executor1 = rclc_executor_get_zero_initialized_executor();
RCCHECK(rclc_executor_init(
&executor1,
&support.context,
2,
&allocator
));
RCCHECK(rclc_executor_add_timer(&executor1, &timer));
// set_on(mecanumbot);
// rclc_executor_spin(&executor);
while (true) {
rclc_executor_spin_some(&executor0, RCL_MS_TO_NS(100));
rclc_executor_spin_some(&executor1, RCL_MS_TO_NS(100));
}
mecanumbot_destroy(mecanumbot);
RCCHECK(rclc_executor_fini(&executor0));
RCCHECK(rclc_executor_fini(&executor1));
RCCHECK(rcl_subscription_fini(&subscriber, &node0));
RCCHECK(rcl_publisher_fini(&pubFrontRightTicks, &node1));
RCCHECK(rcl_publisher_fini(&pubFrontLeftTicks, &node1));
RCCHECK(rcl_publisher_fini(&pubRearRightTicks, &node1));
RCCHECK(rcl_publisher_fini(&pubRearLeftTicks, &node1));
RCCHECK(rcl_node_fini(&node0));
RCCHECK(rcl_node_fini(&node1));
RCCHECK(rcl_timer_fini(&timer));
RCCHECK(rclc_support_fini(&support))
return 0;
}