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Python peripherals #278
This change introduces a way to interface with sensors and actuators directly from the pi. The goal of this is create the option to run the brain without the use of an arduino.
Before the bespoke serial messaging protocol, the communication between the raspi and arduino was unreliable. This was a parallel development effort to create a stable system as fast as possible. It was also required for integrating the brain box code into the main software stack. Furthermore, running all code on a single board simplifies the system.
New nodes are added and named with a functional prefix. E.g. sensor_am2315 or actuator_relay. Nodes manage rostopics and event loops. The nodes call a helper module for each device (e.g. am2315 or relay) found in the peripheral directory. It is here where all the code for actually interfacing with the device sits.
This PR interfaces with the following:
Running timing sensitive code will not be possible from this approach.
So this is going to pull out support for PFC1? I'm finding myself stuck trying to figure out where I'm going to take the legacy hardware. There are a number of design flaws including weak sensors in PFC1 but the cost to retrofit it to be entirely a PFC2 ecosystem I might as well just toss them and build PFC2s. At least the PFC1's have working lights tho. :-)
We're kind of exploring a couple different configurations to see which method of implementation will provide the most value for us in regards to hardware. Either way, we will probably be heading in a way where anyone with different hardware needs to write a way to interface that with ROS.
The contract will be publishing and subscribing to environmental variable topics defined under the
referenced this pull request
Jun 15, 2017
Practicing Spanish Rob? ;)…
On Jun 23, 2017 8:49 AM, "Rob Baynes" ***@***.***> wrote: ***@***.**** approved this pull request. Si, es bueno. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#278 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ASauPKJQxCEdF0J8aNvNXUsAZIYq-0SNks5sG7RqgaJpZM4N6al_> .