joint_torque_controller.py
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00001 # -*- coding: utf-8 -*-
00002 #
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2010-2011, Antons Rebguns.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
00010 # are met:
00011 #
00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of University of Arizona nor the names of its
00019 #    contributors may be used to endorse or promote products derived
00020 #    from this software without specific prior written permission.
00021 #
00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 # POSSIBILITY OF SUCH DAMAGE.
00034 
00035 from __future__ import division
00036 
00037 
00038 __author__ = 'Antons Rebguns'
00039 __copyright__ = 'Copyright (c) 2010-2011 Antons Rebguns'
00040 __credits__ = 'Cody Jorgensen'
00041 
00042 __license__ = 'BSD'
00043 __maintainer__ = 'Antons Rebguns'
00044 __email__ = 'anton@email.arizona.edu'
00045 
00046 
00047 import rospy
00048 from dynamixel_driver.dynamixel_const import *
00049 from dynamixel_controllers.joint_controller import JointController
00050 
00051 from dynamixel_msgs.msg import JointState
00052 from std_msgs.msg import Float64
00053 
00054 class JointTorqueController(JointController):
00055     def __init__(self, dxl_io, controller_namespace, port_namespace):
00056         JointController.__init__(self, dxl_io, controller_namespace, port_namespace)
00057         
00058         self.motor_id = rospy.get_param(self.controller_namespace + '/motor/id')
00059         self.initial_position_raw = rospy.get_param(self.controller_namespace + '/motor/init')
00060         self.min_angle_raw = rospy.get_param(self.controller_namespace + '/motor/min')
00061         self.max_angle_raw = rospy.get_param(self.controller_namespace + '/motor/max')
00062         
00063         self.flipped = self.min_angle_raw > self.max_angle_raw
00064         self.last_commanded_torque = 0.0
00065         
00066         self.joint_state = JointState(name=self.joint_name, motor_ids=[self.motor_id])
00067 
00068     def initialize(self):
00069         # verify that the expected motor is connected and responding
00070         available_ids = rospy.get_param('dynamixel/%s/connected_ids' % self.port_namespace, [])
00071         
00072         if not self.motor_id in available_ids:
00073             rospy.logwarn('The specified motor id is not connected and responding.')
00074             rospy.logwarn('Available ids: %s' % str(available_ids))
00075             rospy.logwarn('Specified id: %d' % self.motor_id)
00076             return False
00077             
00078         self.RADIANS_PER_ENCODER_TICK = rospy.get_param('dynamixel/%s/%d/radians_per_encoder_tick' % (self.port_namespace, self.motor_id))
00079         self.ENCODER_TICKS_PER_RADIAN = rospy.get_param('dynamixel/%s/%d/encoder_ticks_per_radian' % (self.port_namespace, self.motor_id))
00080         
00081         if self.flipped:
00082             self.min_angle = (self.initial_position_raw - self.min_angle_raw) * self.RADIANS_PER_ENCODER_TICK
00083             self.max_angle = (self.initial_position_raw - self.max_angle_raw) * self.RADIANS_PER_ENCODER_TICK
00084         else:
00085             self.min_angle = (self.min_angle_raw - self.initial_position_raw) * self.RADIANS_PER_ENCODER_TICK
00086             self.max_angle = (self.max_angle_raw - self.initial_position_raw) * self.RADIANS_PER_ENCODER_TICK
00087             
00088         self.ENCODER_RESOLUTION = rospy.get_param('dynamixel/%s/%d/encoder_resolution' % (self.port_namespace, self.motor_id))
00089         self.MAX_POSITION = self.ENCODER_RESOLUTION - 1
00090         self.VELOCITY_PER_TICK = rospy.get_param('dynamixel/%s/%d/radians_second_per_encoder_tick' % (self.port_namespace, self.motor_id))
00091         self.MAX_VELOCITY = rospy.get_param('dynamixel/%s/%d/max_velocity' % (self.port_namespace, self.motor_id))
00092         self.MIN_VELOCITY = self.VELOCITY_PER_TICK
00093         
00094         if self.compliance_slope is not None: self.set_compliance_slope(self.compliance_slope)
00095         if self.compliance_margin is not None: self.set_compliance_margin(self.compliance_margin)
00096         if self.compliance_punch is not None: self.set_compliance_punch(self.compliance_punch)
00097         if self.torque_limit is not None: self.set_torque_limit(self.torque_limit)
00098         
00099         self.joint_max_speed = rospy.get_param(self.controller_namespace + '/joint_max_speed', self.MAX_VELOCITY)
00100         
00101         if self.joint_max_speed < self.MIN_VELOCITY: self.joint_max_speed = self.MIN_VELOCITY
00102         elif self.joint_max_speed > self.MAX_VELOCITY: self.joint_max_speed = self.MAX_VELOCITY
00103         
00104         if self.joint_speed < self.MIN_VELOCITY: self.joint_speed = self.MIN_VELOCITY
00105         elif self.joint_speed > self.joint_max_speed: self.joint_speed = self.joint_max_speed
00106         
00107         self.set_speed(0.0)
00108         
00109         return True
00110 
00111     def spd_rad_to_raw(self, spd_rad):
00112         if spd_rad < -self.joint_max_speed: spd_rad = -self.joint_max_speed
00113         elif spd_rad > self.joint_max_speed: spd_rad = self.joint_max_speed
00114         self.last_commanded_torque = spd_rad
00115         return int(round(spd_rad / self.VELOCITY_PER_TICK))
00116 
00117     def set_torque_enable(self, torque_enable):
00118         mcv = (self.motor_id, torque_enable)
00119         self.dxl_io.set_multi_torque_enabled([mcv])
00120 
00121     def set_speed(self, speed):
00122         mcv = (self.motor_id, self.spd_rad_to_raw(speed))
00123         self.dxl_io.set_multi_speed([mcv])
00124 
00125     def set_compliance_slope(self, slope):
00126         if slope < DXL_MIN_COMPLIANCE_SLOPE: slope = DXL_MIN_COMPLIANCE_SLOPE
00127         elif slope > DXL_MAX_COMPLIANCE_SLOPE: slope = DXL_MAX_COMPLIANCE_SLOPE
00128         mcv = (self.motor_id, slope, slope)
00129         self.dxl_io.set_multi_compliance_slopes([mcv])
00130 
00131     def set_compliance_margin(self, margin):
00132         if margin < DXL_MIN_COMPLIANCE_MARGIN: margin = DXL_MIN_COMPLIANCE_MARGIN
00133         elif margin > DXL_MAX_COMPLIANCE_MARGIN: margin = DXL_MAX_COMPLIANCE_MARGIN
00134         else: margin = int(margin)
00135         mcv = (self.motor_id, margin, margin)
00136         self.dxl_io.set_multi_compliance_margins([mcv])
00137 
00138     def set_compliance_punch(self, punch):
00139         if punch < DXL_MIN_PUNCH: punch = DXL_MIN_PUNCH
00140         elif punch > DXL_MAX_PUNCH: punch = DXL_MAX_PUNCH
00141         else: punch = int(punch)
00142         mcv = (self.motor_id, punch)
00143         self.dxl_io.set_multi_punch([mcv])
00144 
00145     def set_torque_limit(self, max_torque):
00146         if max_torque > 1: max_torque = 1.0         # use all torque motor can provide
00147         elif max_torque < 0: max_torque = 0.0       # turn off motor torque
00148         raw_torque_val = int(DXL_MAX_TORQUE_TICK * max_torque)
00149         mcv = (self.motor_id, raw_torque_val)
00150         self.dxl_io.set_multi_torque_limit([mcv])
00151 
00152     def process_motor_states(self, state_list):
00153         if self.running:
00154             state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
00155             if state:
00156                 state = state[0]
00157                 self.joint_state.motor_temps = [state.temperature]
00158                 self.joint_state.goal_pos = self.last_commanded_torque
00159                 self.joint_state.current_pos = self.raw_to_rad(state.position, self.initial_position_raw, self.flipped, self.RADIANS_PER_ENCODER_TICK)
00160                 self.joint_state.error = 0.0
00161                 self.joint_state.velocity = state.speed * self.VELOCITY_PER_TICK
00162                 self.joint_state.load = state.load
00163                 self.joint_state.is_moving = state.moving
00164                 self.joint_state.header.stamp = rospy.Time.from_sec(state.timestamp)
00165                 
00166                 self.joint_state_pub.publish(self.joint_state)
00167 
00168     def process_command(self, msg):
00169         self.set_speed(msg.data)
00170 


dynamixel_controllers
Author(s): Antons Rebguns, Cody Jorgensen, Cara Slutter
autogenerated on Sun Oct 5 2014 23:32:36