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Achieved double stage friction wheel shooting #155

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merged 9 commits into from
Mar 4, 2024
Merged

Achieved double stage friction wheel shooting #155

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ea5df94
Achieved double stage friction wheel shooting.
liyixin135 Jan 16, 2024
a02d407
Modify code specifications.
liyixin135 Jan 17, 2024
99a9188
Modify something unreasonable.
liyixin135 Jan 18, 2024
5d531fa
Remove flag bits.
liyixin135 Jan 23, 2024
5c31a63
Modify code specifications.
liyixin135 Jan 23, 2024
338919b
Realize the speed difference between front and rear friction wheels.
liyixin135 Jan 24, 2024
60a22a7
Modify frictions_rotate's flag bit.
liyixin135 Jan 29, 2024
471fc79
Delete something unnecessary.
liyixin135 Feb 25, 2024
67d55fe
Modify some code specifications.
liyixin135 Mar 3, 2024
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7 changes: 6 additions & 1 deletion rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,13 +83,18 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
void reconfigCB(rm_shooter_controllers::ShooterConfig& config, uint32_t /*level*/);

hardware_interface::EffortJointInterface* effort_joint_interface_{};
effort_controllers::JointVelocityController ctrl_friction_l_, ctrl_friction_r_;
std::vector<effort_controllers::JointVelocityController*> ctrls_friction_l_, ctrls_friction_r_;
effort_controllers::JointPositionController ctrl_trigger_;
int push_per_rotation_{};
double offset_wheel_speed_{};
double push_wheel_speed_threshold_{};
bool dynamic_reconfig_initialized_ = false;
bool state_changed_ = false;
bool maybe_block_ = false;
bool friction_left_rotate_state_ = true;
bool friction_right_rotate_state_ = true;
bool friction_left_init_state_ = false;
bool friction_right_init_state_ = false;

ros::Time last_shoot_time_, block_time_, last_block_time_;
enum
Expand Down
85 changes: 68 additions & 17 deletions rm_shooter_controllers/src/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,13 +66,31 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
};
d_srv_->setCallback(cb);

ros::NodeHandle nh_friction_l = ros::NodeHandle(controller_nh, "friction_left");
ros::NodeHandle nh_friction_r = ros::NodeHandle(controller_nh, "friction_right");
ros::NodeHandle nh_trigger = ros::NodeHandle(controller_nh, "trigger");
effort_joint_interface_ = robot_hw->get<hardware_interface::EffortJointInterface>();
return ctrl_friction_l_.init(effort_joint_interface_, nh_friction_l) &&
ctrl_friction_r_.init(effort_joint_interface_, nh_friction_r) &&
ctrl_trigger_.init(effort_joint_interface_, nh_trigger);
XmlRpc::XmlRpcValue friction_left, friction_right;
controller_nh.getParam("friction_left", friction_left);
controller_nh.getParam("friction_right", friction_right);
for (const auto& it : friction_left)
{
ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction_left/" + it.first);
effort_controllers::JointVelocityController* ctrl_friction_l = new effort_controllers::JointVelocityController;
if (!(friction_left_init_state_ &= ctrl_friction_l->init(effort_joint_interface_, nh)))
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ctrls_friction_l_.push_back(ctrl_friction_l);
else
return false;
}
for (const auto& it : friction_right)
{
ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction_right/" + it.first);
effort_controllers::JointVelocityController* ctrl_friction_r = new effort_controllers::JointVelocityController;
if (!(friction_right_init_state_ &= ctrl_friction_r->init(effort_joint_interface_, nh)))
ctrls_friction_r_.push_back(ctrl_friction_r);
else
return false;
}

ros::NodeHandle nh_trigger = ros::NodeHandle(controller_nh, "trigger");
return ctrl_trigger_.init(effort_joint_interface_, nh_trigger);
}

void Controller::starting(const ros::Time& /*time*/)
Expand Down Expand Up @@ -121,8 +139,14 @@ void Controller::update(const ros::Time& time, const ros::Duration& period)
shoot_state_pub_->msg_.state = state_;
shoot_state_pub_->unlockAndPublish();
}
ctrl_friction_l_.update(time, period);
ctrl_friction_r_.update(time, period);
for (auto& ctrl_friction_l : ctrls_friction_l_)
{
ctrl_friction_l->update(time, period);
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
ctrl_friction_r->update(time, period);
}
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ctrl_trigger_.update(time, period);
}

Expand All @@ -133,8 +157,14 @@ void Controller::stop(const ros::Time& time, const ros::Duration& period)
state_changed_ = false;
ROS_INFO("[Shooter] Enter STOP");

ctrl_friction_l_.setCommand(0.);
ctrl_friction_r_.setCommand(0.);
for (auto& ctrl_friction_l : ctrls_friction_l_)
{
ctrl_friction_l->setCommand(0.);
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
ctrl_friction_r->setCommand(0.);
}
ctrl_trigger_.setCommand(ctrl_trigger_.joint_.getPosition());
}
}
Expand All @@ -157,11 +187,25 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
state_changed_ = false;
ROS_INFO("[Shooter] Enter PUSH");
}
if ((cmd_.wheel_speed == 0. ||
(ctrl_friction_l_.joint_.getVelocity() >= push_wheel_speed_threshold_ * ctrl_friction_l_.command_ &&
ctrl_friction_l_.joint_.getVelocity() > M_PI &&
ctrl_friction_r_.joint_.getVelocity() <= push_wheel_speed_threshold_ * ctrl_friction_r_.command_ &&
ctrl_friction_r_.joint_.getVelocity() < -M_PI)) &&
for (auto& ctrl_friction_l : ctrls_friction_l_)
{
if (ctrl_friction_l->joint_.getVelocity() < push_wheel_speed_threshold_ * ctrl_friction_l->command_ ||
ctrl_friction_l->joint_.getVelocity() <= M_PI)
{
friction_left_rotate_state_ = false;
break;
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break应该可以不写

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这咋不改，这个标志位其实可以跟下面用同一个，然后再改一下变量名吧 @liyixin135

}
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
if (ctrl_friction_r->joint_.getVelocity() > push_wheel_speed_threshold_ * ctrl_friction_r->command_ ||
ctrl_friction_r->joint_.getVelocity() >= -M_PI)
{
friction_right_rotate_state_ = false;
break;
}
}
if ((cmd_.wheel_speed == 0. || (friction_left_rotate_state_ && friction_right_rotate_state_)) &&
(time - last_shoot_time_).toSec() >= 1. / cmd_.hz)
{ // Time to shoot!!!
if (std::fmod(std::abs(ctrl_trigger_.command_struct_.position_ - ctrl_trigger_.getPosition()), 2. * M_PI) <
Expand Down Expand Up @@ -219,8 +263,15 @@ void Controller::block(const ros::Time& time, const ros::Duration& period)

void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
{
ctrl_friction_l_.setCommand(cmd_.wheel_speed + config_.extra_wheel_speed);
ctrl_friction_r_.setCommand(-cmd_.wheel_speed - config_.extra_wheel_speed);
for (size_t i = 0; i < ctrls_friction_l_.size(); i++)
{
if (i == 1)
offset_wheel_speed_ = 220;
else
offset_wheel_speed_ = 0;
ctrls_friction_l_[i]->setCommand(cmd_.wheel_speed + config_.extra_wheel_speed - offset_wheel_speed_);
ctrls_friction_r_[i]->setCommand(-cmd_.wheel_speed - config_.extra_wheel_speed + offset_wheel_speed_);
}
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}

void Controller::normalize()
Expand Down
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