brake.cc File Reference

#include <assert.h>
#include <unistd.h>
#include <stdio.h>
#include <math.h>
#include "ros/ros.h"
#include <art/pid2.h>
#include <art_msgs/BrakeCommand.h>
#include <art_msgs/BrakeState.h>
#include <art_msgs/ArtHertz.h>
#include "devbrake.h"
#include <stdint.h>
#include "../servo.h"
#include "model_brake.h"

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Defines
#define	NODE   "brake"
	ART brake servo driver.
Functions
int	GetParameters (void)
int	main (int argc, char **argv)
float	PollDevice (void)
void	ProcessCommand (const art_msgs::BrakeCommand::ConstPtr &cmd)
int	Setup ()
int	Shutdown ()
Variables
ros::Subscriber	brake_cmd
ros::Publisher	brake_state

---

Detailed Description

ROS driver for the ART brake servo controller.

Author:

Jack O'Quin

Definition in file brake.cc.

---

Define Documentation

#define NODE   "brake"

ART brake servo driver.

This driver provides a brake node interface to the brake servo for the ART robot vehicle.

Publishes

• brake/state topic

Commands

• brake/cmd topic

Sets the desired brake position. Position 1.0 is fully on, 0.0 is fully off. There are both absolute and relative versions of this command.

Parameters

• port (string)
  • tty port name for the brake servo
  • use "/dev/null" when simulating the device
  • default: "/dev/brake" (actual hardware port)

• apply_on_exit (bool)
  • unless false, apply full brake during shutdown.
  • default: false

• training (bool)
  • if true, log brake data, but do not send it any commands
  • default: false

Training mode collects data while a human driver operates the vehicle.

• diagnostic (bool)
  • if true, log extra diagnostic brake information not needed for normal operation
  • default: false

Todo:

describe initial calibration values

use ROS diagnostic_updater package

Author:

Jack O'Quin

Definition at line 80 of file brake.cc.

---

Function Documentation

int GetParameters

(

void

)

Definition at line 101 of file brake.cc.

int main	(	int	argc,
		char **	argv
	)

Definition at line 242 of file brake.cc.

float PollDevice

(

void

)

Definition at line 218 of file brake.cc.

void ProcessCommand

(

const art_msgs::BrakeCommand::ConstPtr &

cmd

)

Definition at line 184 of file brake.cc.

int Setup

(

)

Definition at line 159 of file brake.cc.

int Shutdown

(

)

Definition at line 177 of file brake.cc.

---

Variable Documentation

ros::Subscriber brake_cmd

Definition at line 98 of file brake.cc.

ros::Publisher brake_state

Definition at line 99 of file brake.cc.