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Merge thruster test code #153
Thruster tests code - Updated power board code to publish all thruster test data on single array - Dockerfile to run all thruster test dependencies - Arduino code to get data from load cell connected to thruster - Update to ADC code to make it MCU blind
2 parents 9f80edb + faa1985 commit 0b516a1

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+1309
-1
lines changed

‎pio_workspace/include/thruster_tests_main.h‎

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#ifdef THRUSTER_TESTS_H
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#include <Arduino.h>
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void thruster_tests_setup();
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void thruster_tests_loop();
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#endif

‎pio_workspace/lib/power_custom/adc_sensors.h‎

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ADCSensors();
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// Initialization of ADCSensor
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bool begin(bool enableVoltage, bool enableCurrent, TwoWire* wire = &Wire1);
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bool begin(bool enableVoltage, bool enableCurrent, TwoWire* wire);
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// Returns an array pointer to current measurements
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float* senseVoltage();

‎pio_workspace/platformio.ini‎

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${env.build_flags}
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#upload_protocol = teensy-cli
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upload_port = /dev/power
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[env:thruster_tests]
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platform = atmelavr
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board = uno
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framework = arduino
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build_flags =
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-D THRUSTER_TESTS_H
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lib_ignore = micro_ros_arduino
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monitor_speed= 57600
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lib_deps = HX711_ADC

‎pio_workspace/src/main.cpp‎

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#include "power_main.h"
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#elif POWER_ROS1_H
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#include "power_ros1_main.h"
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#elif THRUSTER_TESTS_H
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#include "thruster_tests_main.h"
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#endif
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void setup() {
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power_setup();
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#elif POWER_ROS1_H
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power_ros1_setup();
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#elif THRUSTER_TESTS_H
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thruster_tests_setup();
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#endif
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}
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power_loop();
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#elif POWER_ROS1_H
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power_ros1_loop();
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#elif THRUSTER_TESTS_H
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thruster_tests_loop();
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#endif
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}

‎pio_workspace/src/thruster_tests_main.cpp‎

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#ifdef THRUSTER_TESTS_H
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#include "thruster_tests_main.h"
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#include <Arduino.h>
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#include <ros.h>
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#include <auv_msgs/ThrusterMicroseconds.h>
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#include <std_msgs/Float32.h>
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#define LED_PIN 13
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#define BUTTON 2
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float thrusterForce = -1;
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#define YELLOW_LED 6
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#define GREEN_LED 7
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// sensor code
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#include <HX711_ADC.h>
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const int HX711_dout = 4; // mcu > HX711 dout pin
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const int HX711_sck = 5; // mcu > HX711 sck pin
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HX711_ADC LoadCell(HX711_dout, HX711_sck);
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const int calVal_eepromAdress = 0;
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unsigned long t = 0;
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void sensor_setup() {
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LoadCell.begin();
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float calibrationValue;
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calibrationValue = 178.6;
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unsigned long stabilizingtime = 2000;
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boolean _tare = true;
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LoadCell.start(stabilizingtime, _tare);
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if (LoadCell.getTareTimeoutFlag()) {
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while (1);
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} else {
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LoadCell.setCalFactor(calibrationValue);
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}
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}
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void sensor_loop() {
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static boolean newDataReady = 0;
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const int serialPrintInterval = 0;
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if (LoadCell.update()) newDataReady = true;
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if (newDataReady) {
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if (millis() > t + serialPrintInterval) {
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float i = LoadCell.getData();
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thrusterForce = i;
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newDataReady = 0;
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t = millis();
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}
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}
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if (digitalRead(BUTTON) == HIGH) {
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LoadCell.tareNoDelay();
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digitalWrite(YELLOW_LED, HIGH);
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}
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if (LoadCell.getTareStatus() == true) {
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digitalWrite(GREEN_LED, HIGH);
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delay(500);
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digitalWrite(YELLOW_LED, LOW);
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digitalWrite(GREEN_LED, LOW);
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}
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}
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// end of sensor code
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std_msgs::Float32 thruster_force_msg;
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uint16_t microseconds[] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
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void commandCb(const auv_msgs::ThrusterMicroseconds &tc) {
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memcpy(microseconds, tc.microseconds, 8 * sizeof(uint16_t));
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}
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ros::NodeHandle nh;
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ros::Subscriber<auv_msgs::ThrusterMicroseconds> sub("/propulsion/microseconds", &commandCb);
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ros::Publisher thruster_force("/thruster/force", &thruster_force_msg);
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void publishData() {
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thruster_force_msg.data = thrusterForce;
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thruster_force.publish(&thruster_force_msg);
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}
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void thruster_tests_setup() {
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pinMode(BUTTON, INPUT);
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pinMode(YELLOW_LED, OUTPUT);
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pinMode(GREEN_LED, OUTPUT);
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, HIGH);
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sensor_setup();
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nh.initNode();
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nh.subscribe(sub);
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nh.advertise(thruster_force);
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}
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void thruster_tests_loop() {
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digitalWrite(LED_PIN, !digitalRead(LED_PIN));
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sensor_loop();
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publishData();
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nh.spinOnce();
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delay(10);
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}
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#endif

‎pio_workspace/test/thruster_tests/Docker/Dockerfile‎

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# Start from the ROS Noetic base image
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FROM ros:noetic
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# Set noninteractive frontend for apt
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ENV DEBIAN_FRONTEND=noninteractive
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# Update package lists and install necessary packages
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RUN apt update && \
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apt install -y tmux git vim \
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ros-noetic-rosserial ros-noetic-rosserial-arduino python3-catkin-tools && \
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rm -rf /var/lib/apt/lists/*
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# Source ROS setup
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RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
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# Default command
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CMD ["bash"]

‎pio_workspace/test/thruster_tests/Docker/catkin_ws/.gitignore‎

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build
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logs
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devel
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.catkin_tools
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src/propulsion/src/__pycache__

‎pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(auv_msgs)
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# set of packages whose message types are used
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set(MSG_DEP_SET
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actionlib_msgs
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geometry_msgs
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std_msgs
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)
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find_package(catkin REQUIRED COMPONENTS
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${MSG_DEP_SET}
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message_generation
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)
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add_message_files(FILES
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ThrusterMicroseconds.msg
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ThrusterForces.msg
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PingerBearing.msg
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PingerTimeDifference.msg
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VisionObject.msg
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VisionObjectArray.msg
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DeadReckonReport.msg
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VelocityReport.msg
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UnityState.msg
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)
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add_action_files(FILES
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StateQuaternion.action
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Effort.action
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)
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generate_messages(DEPENDENCIES
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${MSG_DEP_SET}
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)
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catkin_package(CATKIN_DEPENDS
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${MSG_DEP_SET}
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message_runtime
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)

‎pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/Effort.action‎

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# goal
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geometry_msgs/Wrench effort
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std_msgs/Bool do_surge
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std_msgs/Bool do_sway
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std_msgs/Bool do_heave
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std_msgs/Bool do_roll
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std_msgs/Bool do_pitch
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std_msgs/Bool do_yaw
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---
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# result
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std_msgs/Bool stopped
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---
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# feedback
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std_msgs/Bool moving

‎pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/StateQuaternion.action‎

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# goal
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geometry_msgs/Pose pose
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std_msgs/Bool do_x
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std_msgs/Bool do_y
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std_msgs/Bool do_z
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std_msgs/Bool do_quaternion
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std_msgs/Bool displace
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std_msgs/Bool local
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---
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# result
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std_msgs/Bool status
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---
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# feedback
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std_msgs/Bool status

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