Cyclone Mecanum

サイクロンメカナム

Known Bug: No GP chip inside

This package contain 2 nodes: mecanum_command and mecanum_umd.

mecanum_command

This node reads several commands and take corrosponding actions.

Topics & Services

• /elevator_cont
  • message: cyclone_mecanum/ElevatorCont.h
    • int32 elevator_id
    • int16 vel_setpoint, v_setpoint passing to motor of elevator (around 140 is ok)
• /em_cont
  • message: cyclone_mecanum/EmCont.h
    • int32 em_id
    • int16 release, true to release the electromagnetic, don't provide power for too long
• /disk_spin
  • service: std_srvs/SetBool.h
    • bool data, true to spin clockwise
• /elevator_oneshot
  • service: cyclone_mecanum/ElevatorOneshot.h
    • int32 elevator_id
    • bool up
  • NOT implemented!

Parameters

• disk_spin_angle (default: 36)
  • The Angle of disk spin once /disk_spin is called
• light_gate_IO_port (default: {1, 2})
• em_IO_port(default: {3})
  • The ports plugged to IO board

Runtime Dependencies

• mecanum_umd
• stepper_control from package mechaduino_stepper

mecanum_umd

This node is copied from the package mecanum_top, which handles the UMD boards.

Parameters

• umd_port (default: /dev/ttyACM1)
• umd_baudrate (default: 921600)

Outdated Information

Copy From

include/devices/PS4.* is copied from omni_control

Slighty different as the constructor as ask for the topic name from joy node

Dependencies

umd_boards_ws/mecanum_top from umd_boards_ws in branch wahaha

Startup

Standalone

1. roscore
2. sudo ds4drv --hidraw --led 00ff00
3. (according to the output from 2)
   rosparam set joy_node/dev "/dev/input/js1"
4. rosrun joy joy_node
5. (optional)
   rostopic echo /joy
6. rosrun mecanum_top node /dev/ttyACM0
7. rosparam set /mecanum_command/ps4_topic /joy
8. rosrun cyclone_mecanum mecanum_command

With omni_control

1. roscore
2. sudo ds4drv --hidraw --led 00ff00
3. (according to the output from 2)
   roslaunch omni_control mecanum_controller.launch joy:=/dev/input/jsX umd:=/dev/ttyACMX
4. rosrun mecanum_top node /dev/ttyACMX
5. rosparam set /mecanum_command/ps4_topic /omni_base/joy
6. rosrun cyclone_mecanum mecanum_command

Distinguish between /dev/ttyACMX

udevadm info --name=/dev/ttyACMX

UART Board E:ID_MODEL=54FF70065185545318341887

STM32F407Discovery ID_MODEL=50002C001951353235373431

Control

	Function Key	Precise Mode
Options	Lift Both Rack	N/A
Triangle	Elevator Up	Move 20x slower
Cross	Elevator Down	Move 20x slower
Rectangle	Rotate Rack anti-closewise by 18°	Rotate 1.8°
Circle	Rotate Rack closewise by 18°	Rotate 1.8°

	Modification Key
L1	Golden Rack
Share	Precise