mirror of
https://github.com/wpilibsuite/allwpilib
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75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "servo.h"
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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GZ_REGISTER_MODEL_PLUGIN(Servo)
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void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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signal = 0;
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// parse SDF Properries
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joint = model->GetJoint(sdf->Get<std::string>("joint"));
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if (sdf->HasElement("topic")) {
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topic = sdf->Get<std::string>("topic");
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} else {
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topic = "~/" + sdf->GetAttribute("name")->GetAsString();
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}
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if (sdf->HasElement("torque")) {
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torque = sdf->Get<double>("torque");
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} else {
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torque = 5;
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}
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gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
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<< " torque=" << torque << std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name =
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model->GetWorld()->GetName() + "::" + model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = transport::NodePtr(new transport::Node());
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node->Init(scoped_name);
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sub = node->Subscribe(topic, &Servo::Callback, this);
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// connect to the world update event
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// this will call update every iteration
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updateConn = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&Servo::Update, this, _1));
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}
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void Servo::Update(const common::UpdateInfo& info) {
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// torque is in kg*cm
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// joint->SetAngle(0,signal*180);
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if (joint->GetAngle(0) < signal) {
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joint->SetForce(0, torque);
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} else if (joint->GetAngle(0) > signal) {
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joint->SetForce(0, torque);
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}
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joint->SetForce(0, 0);
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}
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void Servo::Callback(const msgs::ConstFloat64Ptr& msg) {
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signal = msg->data();
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if (signal < -1) {
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signal = -1;
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} else if (signal > 1) {
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signal = 1;
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}
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}
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