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Achieved double stage friction wheel shooting #154

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Achieved double stage friction wheel shooting #154

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d254b87
Achieved double stage friction wheel shooting.
liyixin135 Jan 16, 2024
008a898
Modify variable position and name.
liyixin135 Jan 16, 2024
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9 changes: 7 additions & 2 deletions 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_;
XmlRpc::XmlRpcValue friction_left_, friction_right_;
std::vector<effort_controllers::JointVelocityController*> ctrls_friction_l_, ctrls_friction_r_;
effort_controllers::JointPositionController ctrl_trigger_;
int push_per_rotation_{};
double push_wheel_speed_threshold_{};
double offset_wheel_speed_{};
bool dynamic_reconfig_initialized_ = false;
bool state_changed_ = false;
bool maybe_block_ = false;
bool is_rotate_ = false;
bool friction_left_init_state_ = false;
bool friction_right_init_state_ = false;

ros::Time last_shoot_time_, block_time_, last_block_time_;
enum
Expand All @@ -109,4 +114,4 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
dynamic_reconfigure::Server<rm_shooter_controllers::ShooterConfig>* d_srv_{};
};

} // namespace rm_shooter_controllers
} // namespace rm_shooter_controllers
77 changes: 58 additions & 19 deletions rm_shooter_controllers/src/standard.cpp
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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);

controller_nh.getParam("friction_left", friction_left_);
controller_nh.getParam("friction_right", friction_right_);
for (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)))
ctrls_friction_l_.push_back(ctrl_friction_l);
else
return false;
}
for (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 +139,11 @@ 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 (size_t i = 0; i < ctrls_friction_l_.size(); i++)
{
ctrls_friction_l_[i]->update(time, period);
ctrls_friction_r_[i]->update(time, period);
}
ctrl_trigger_.update(time, period);
}

Expand All @@ -133,8 +154,11 @@ 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 (size_t i = 0; i < ctrls_friction_l_.size(); i++)
{
ctrls_friction_l_[i]->setCommand(0.);
ctrls_friction_r_[i]->setCommand(0.);
}
ctrl_trigger_.setCommand(ctrl_trigger_.joint_.getPosition());
}
}
Expand All @@ -157,12 +181,20 @@ 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)) &&
(time - last_shoot_time_).toSec() >= 1. / cmd_.hz)
for (size_t i = 0; i < ctrls_friction_l_.size(); i++)
{
if (cmd_.wheel_speed == 0. ||
(ctrls_friction_l_[i]->joint_.getVelocity() >= push_wheel_speed_threshold_ * ctrls_friction_l_[i]->command_ &&
ctrls_friction_l_[i]->joint_.getVelocity() > M_PI &&
ctrls_friction_r_[i]->joint_.getVelocity() <= push_wheel_speed_threshold_ * ctrls_friction_r_[i]->command_ &&
ctrls_friction_r_[i]->joint_.getVelocity() < -M_PI))
{
is_rotate_ = true;
}
else
is_rotate_ = false;
}
if (is_rotate_ && (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) <
config_.forward_push_threshold)
Expand Down Expand Up @@ -219,8 +251,15 @@ 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_);
}
}

void Controller::normalize()
Expand Down Expand Up @@ -260,4 +299,4 @@ void Controller::reconfigCB(rm_shooter_controllers::ShooterConfig& config, uint3

} // namespace rm_shooter_controllers

PLUGINLIB_EXPORT_CLASS(rm_shooter_controllers::Controller, controller_interface::ControllerBase)
PLUGINLIB_EXPORT_CLASS(rm_shooter_controllers::Controller, controller_interface::ControllerBase)
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