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A ROS package to control Tamiya's Cam-Program Robot
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/** | |
* @brief Drive brushed DC-motors with TB6612 | |
* @author botamochi6277 | |
*/ | |
#include "ros/ros.h" | |
#include <iostream> | |
#include <chrono> | |
#include <thread> | |
#include <TB6612.hpp> | |
#include <pigpiod_if2.h> | |
int main(int argc, char **argv) { | |
// establish ros node | |
ros::init(argc, argv, "test_run"); | |
ros::NodeHandle nh; | |
// connect to pigpio | |
int pi; | |
pi = pigpio_start(NULL, NULL); | |
if (pi < 0) { | |
std::printf("cannot connect pigpiod\n"); | |
return -1; | |
} | |
// define pin assignment for TB6612 | |
int pin_ain1, pin_ain2, pin_apwm, pin_bin1, pin_bin2, pin_bpwm; | |
// Read pin assignment from ROSPARAM | |
std::vector<std::string> pinouts; | |
if (nh.getParam("pigpio", pinouts)) { | |
for (int i = 0; i < pinouts.size(); ++i) { | |
if (pinouts.at(i) == "A_IN1") { | |
pin_ain1 = i; | |
} | |
if (pinouts.at(i) == "A_IN2") { | |
pin_ain2 = i; | |
} | |
if (pinouts.at(i) == "A_PWM") { | |
pin_apwm = i; | |
} | |
if (pinouts.at(i) == "B_IN1") { | |
pin_bin1 = i; | |
} | |
if (pinouts.at(i) == "B_IN2") { | |
pin_bin2 = i; | |
} | |
if (pinouts.at(i) == "B_PWM") { | |
pin_bpwm = i; | |
} | |
} | |
} else { | |
ROS_ERROR("No pigpio param"); | |
} | |
// establish TB6612 class | |
TB6612 driver(pi, pin_ain1, pin_ain2, pin_apwm, pin_bin1, pin_bin2, pin_bpwm); | |
ROS_INFO("TB6612 is working, A_IN1: %02d, A_IN2: %02d, A_PWM: %02d, B_IN1: %02d, B_IN2: %02d, B_PWM: %02d", | |
pin_ain1, pin_ain2, pin_apwm, pin_bin1, pin_bin2, pin_bpwm); | |
// drive the motors | |
ROS_INFO("Go forward."); | |
driver.drive(TB6612::A, 128);// right motor | |
driver.drive(TB6612::B, 128);// left motor | |
std::this_thread::sleep_for(std::chrono::seconds(3)); | |
ROS_INFO("Go backward."); | |
driver.drive(TB6612::A, -128); | |
driver.drive(TB6612::B, -128); | |
std::this_thread::sleep_for(std::chrono::seconds(3)); | |
ROS_INFO("Turn right."); | |
driver.drive(TB6612::A, -128); | |
driver.drive(TB6612::B, 128); | |
std::this_thread::sleep_for(std::chrono::seconds(3)); | |
ROS_INFO("Turn left."); | |
driver.drive(TB6612::A, 128); | |
driver.drive(TB6612::B, -128); | |
std::this_thread::sleep_for(std::chrono::seconds(3)); | |
// Stop motors | |
driver.drive(TB6612::A, 0); | |
driver.drive(TB6612::B, 0); | |
std::this_thread::sleep_for(std::chrono::seconds(1)); | |
// disconnect pigpio | |
pigpio_stop(pi); | |
ROS_INFO("Finish driving."); | |
return 0; | |
} |
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