mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
99 lines
2.7 KiB
C++
99 lines
2.7 KiB
C++
#include "gyro.h"
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GZ_REGISTER_MODEL_PLUGIN(Gyro)
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Gyro::Gyro() {}
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Gyro::~Gyro() {}
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void Gyro::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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// Parse SDF properties
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link = model->GetLink(sdf->Get<std::string>("link"));
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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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std::string axisString = sdf->Get<std::string>("axis");
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if (axisString == "roll") axis = Roll;
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if (axisString == "pitch") axis = Pitch;
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if (axisString == "yaw") axis = Yaw;
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if (sdf->HasElement("units")) {
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radians = sdf->Get<std::string>("units") != "degrees";
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} else {
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radians = true;
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}
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zero = GetAngle();
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gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
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<< " axis=" << axis << " radians=" << radians << std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name = 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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command_sub = node->Subscribe(topic+"/control", &Gyro::Callback, this);
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pos_pub = node->Advertise<msgs::Float64>(topic+"/position");
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vel_pub = node->Advertise<msgs::Float64>(topic+"/velocity");
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// Connect to the world update event.
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// This will trigger the Update function every Gazebo iteration
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updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Gyro::Update, this, _1));
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}
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void Gyro::Update(const common::UpdateInfo &info) {
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msgs::Float64 pos_msg, vel_msg;
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pos_msg.set_data(Limit(GetAngle() - zero));
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pos_pub->Publish(pos_msg);
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vel_msg.set_data(GetVelocity());
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vel_pub->Publish(vel_msg);
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}
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void Gyro::Callback(const msgs::ConstStringPtr &msg) {
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std::string command = msg->data();
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if (command == "reset") {
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zero = GetAngle();
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} else {
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gzerr << "WARNING: Gyro got unknown command '" << command << "'." << std::endl;
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}
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}
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double Gyro::GetAngle() {
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if (radians) {
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return link->GetWorldCoGPose().rot.GetAsEuler()[axis];
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} else {
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return link->GetWorldCoGPose().rot.GetAsEuler()[axis] * (180.0 / M_PI);
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}
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}
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double Gyro::GetVelocity() {
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if (radians) {
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return link->GetRelativeAngularVel()[axis];
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} else {
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return link->GetRelativeAngularVel()[axis] * (180.0 / M_PI);
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}
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}
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double Gyro::Limit(double value) {
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if (radians) {
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while (true) {
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if (value < -M_PI) value += 2*M_PI;
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else if (value > M_PI) value -= 2*M_PI;
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else break;
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}
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} else {
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while (true) {
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if (value < -180) value += 360;
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else if (value > 180) value -= 360;
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else break;
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}
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}
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return value;
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}
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