new_method.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import rospy
from cob_msgs.msg import EmergencyStopState
from std_msgs.msg import Float64
import savizky

class volts_filter():

    def __init__(self):
        self.volts = 0.
        self.wsize = 61
        self.filter_order = 3
        self.theta = rospy.get_param("theta")
        self.off_y = rospy.get_param("off_y")
        self.abcd = rospy.get_param("abcd")
        self.hvalue = 0
        self.sg = savitzky.savitzky_golay(window_size=wsize, order=filter_order)
        self.volt_filt = None

        rospy.Subscriber("/power_board/voltage", Float64, callback)

    def callback(self, data):

        if(self.hvalue == 0):
            self.hvalue = data
            self.volt_filt = hvalue*np.ones(2*wsize+1)

            if(data <= 44000):
                self.volts = 44000
            time_r = 0.
            return
        elif(data >= 48000):
                self.volts = 48000

        else:
            self.volts = data

        self.volt_filt = np.insert(self.volt_filt, 0, self.volts)
        self.volt_filt = np.delete(self.volt_filt, -1)

        vfilt = sg.filter(volt_filt)
        old_settings = np.seterr(all='raise')

        self.t_est = np.polyval(self.abcd, self.vfilt[self.wsize])

        self.t_est = vfilt[self.wsize]*sin(self.theta) + self.t_est*cos(self.theta)

        self.t_est = self.t_est + off_y


if __name__ == '__main__':
    rospy.init_node('volt_filt')
    vf = volts_filter()

    while not rospy.is_shutdown():
        rospy.sleep(1.0)