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Created directory structure for the packages and encompassing stack

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commit 00c8ddfa7a2efd8f30cd615a29f272d2ee070c3b 1 parent 64a2a87
Garrett Brown authored
41 CMakeLists.txt
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+# Arduino Toolchain. See https://github.com/queezythegreat/arduino-cmake
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/avr/arduino-cmake/cmake/ArduinoToolchain.cmake)
+
+cmake_minimum_required(VERSION 2.8)
+
+# ROSMAKE Code
+
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+rosbuild_make_distribution(0.1.0)
+
+# CATKIN Code
+
+#project(mecanum)
+
+# Find the catkin package first and then call catkin_stack(). This is only
+# necessary if you need the variables exported by catkin_stack.
+#find_package(catkin REQUIRED)
+# catkin_stack() or catkin_stack(ros_comm)
+
+# This line is for anything that is common to all subprojects and not handled
+# by catkin_stack.
+# optional find_package(xxx REQUIRED)
+
+# Call catkin_python_setup() if the project contains a setup.py / Python code
+# which should installed.
+# optional catkin_python_setup()
+
+
+#foreach(subdir
+# avr
+# mecanum
+# )
+# add_subdirectory(${subdir})
+#endforeach()
+
+# install all manifests
+#install_matching_to_share(manifest.xml)
+
+#install(FILES stack.yaml stack.xml
+# DESTINATION share/${PROJECT_NAME})
+
339 LICENSE
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@@ -0,0 +1,339 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
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+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
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+
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+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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+Whether that is true depends on what the Program does.
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+ 1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
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+notices that refer to this License and to the absence of any warranty;
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+You may charge a fee for the physical act of transferring a copy, and
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+ 2. You may modify your copy or copies of the Program or any portion
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+
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+
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+ Copyright (C) <year> <name of author>
+
+ This program is free software; you can redistribute it and/or modify
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+ (at your option) any later version.
+
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+ but WITHOUT ANY WARRANTY; without even the implied warranty of
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+
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+
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+
+If the program is interactive, make it output a short notice like this
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+
+ Gnomovision version 69, Copyright (C) year name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.
21 avr/CMakeLists.txt
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+# Arduino Toolchain. See https://github.com/queezythegreat/arduino-cmake
+#set(CMAKE_TOOLCHAIN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/arduino-cmake/cmake/ArduinoToolchain.cmake)
+
+cmake_minimum_required(VERSION 2.8)
+
+project(avr)
+
+set(ARDUINO_DEFAULT_BOARD mega2560) # Default Board ID, when not specified
+set(ARDUINO_DEFAULT_PORT /dev/ttyACM0) # Default Port, when not specified
+
+generate_arduino_firmware(avr_main
+ SRCS src/main.cpp
+# HDRS src/main.h
+# LIBS lib/main_lib
+)
+
+#catkin_project(${PROJECT_NAME}
+# INCLUDE_DIRS include # avr includes don't do much good
+# LIBRARIES ${PROJECT_NAME}
+#)
+
14 avr/manifext.xml
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+<package>
+ <catkin/>
+ <description brief="avr">
+
+AVR microprocessor code for Mecanum Bot.
+
+ </description>
+ <author>Garrett Brown</author>
+ <license>GPLv2</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/rostime</url>
+
+ <export/>
+</package>
8 avr/rosdep.yaml
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+arduino-core:
+ ubuntu: arduino-core
+cmake:
+ ubuntu: cmake
+ debian: cmake
+ fedora: cmake
+ macports: cmake
+
78 avr/src/main.cpp
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+const int pwm_pins[] = {4, // Green
+ 7, // Amber
+ 8, // Red
+ 9, // UV
+ 10}; // Emergency
+const int num_pwm = sizeof(pwm_pins) / sizeof(pwm_pins[0]);
+const int led_pins[] = {46, 44, 48, 42, 50, 52};
+const int num_leds = sizeof(led_pins) / sizeof(led_pins[0]);
+
+int current_led = led_pins[0];
+
+void setup()
+{
+ for (int i = 0; i < num_pwm; ++i)
+ {
+ pinMode(pwm_pins[i], OUTPUT);
+ digitalWrite(pwm_pins[i], HIGH);
+ }
+ // But not pin 10 (emergency LEDs)
+ digitalWrite(10, LOW);
+
+ for (int i = 0; i < num_leds; ++i)
+ {
+ pinMode(led_pins[i], OUTPUT);
+ //digitalWrite(led_pins[i], HIGH);
+ }
+ // Pins 12 and 13 are always on
+ pinMode(12, OUTPUT);
+ pinMode(13, OUTPUT);
+ digitalWrite(12, HIGH);
+ digitalWrite(13, HIGH);
+}
+
+void increment_led()
+{
+ // Disable the led before selecting a new one
+ digitalWrite(current_led, LOW);
+
+ // get the new led pin number
+ for (int i = 0; i < num_leds; ++i)
+ {
+ if (current_led == led_pins[i])
+ {
+ if (i + 1 < num_leds)
+ current_led = led_pins[i + 1];
+ else
+ current_led = led_pins[0];
+ break;
+ }
+ }
+ digitalWrite(current_led, HIGH);
+}
+
+void loop()
+{
+ /*
+ for (int brightness = 0; brightness < 255; ++brightness)
+ {
+ for (int i = 0; i < num_pwm; ++i)
+ {
+ analogWrite(pwm_pins[i], brightness);
+ }
+ delay(2);
+ }
+ increment_led();
+ for (int brightness = 255; brightness > 0; --brightness)
+ {
+ for (int i = 0; i < num_pwm; ++i)
+ {
+ analogWrite(pwm_pins[i], brightness);
+ }
+ delay(2);
+ }
+ */
+ increment_led();
+ delay(200);
+}
+
134 mecanum-electronics/Interfaces.xml
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+<interfaces>
+ <bealgeboard>
+ <interface expansion="3" name="THUMBWHEEL1" gpio="139"/>
+ <interface expansion="4" name="THUMBWHEEL2" gpio="144"/>
+ <interface expansion="5" name="THUMBWHEEL4" gpio="138"/>
+ <interface expansion="6" name="BUTTON_RED" gpio="146"/>
+ <interface expansion="7" name="BUTTON_YELLOW" gpio="137"/>
+ <interface expansion="8" name="BUTTON_GREEN" gpio="143"/>
+ <interface expansion="9" name="BRIDGE5" gpio="136"/>
+ <interface expansion="10" name="BRIDGE2" gpio="145"/>
+ <interface expansion="11" name="" gpio="135"/>
+ <interface expansion="12" name="BRIDGE6" gpio="158"/>
+ <interface expansion="13" name="" gpio="134"/>
+ <interface expansion="14" name="BRIDGE1" gpio="162"/>
+ <interface expansion="15" name="" gpio="133"/>
+ <interface epxansion="16" name="BRIDGE3" gpio="161"/>
+ <interface expansion="17" name="" gpio="132"/>
+ <interface expansion="18" name="BRIDGE4" gpio="159"/>
+ <interface expansion="19" name="" gpio="131"/>
+ <interface expansion="20" name="ARDUINO_RESET" gpio="156"/>
+ <interface expansion="21" name="IMU_INT0" gpio="130"/>
+ <interface expansion="22" name="IMU_INT1" gpio="157"/>
+ <interface expansion="23" name="IMU_SDA" gpio="183"/>
+ <interface expansion="24" name="IMU_SCL" gpio="168"/>
+ <interface name="BUTTON_USER" gpio="7"/>
+ <interface name="LED_USR0" gpio="149"/>
+ <interface name="LED_USR1" gpio="150"/>
+ </beagleboard>
+ <arduino>
+ <!-- Digital -->
+ <interface pin="0" name="SERIAL_TX" not-connected="true"/>
+ <interface pin="1" name="SERIAL_RX" not-connected="true"/>
+/ <interface pin="2" name="MOTOR1_PWM"/>
+/ <interface pin="3" name="MOTOR2_PWM"/>
+ <interface pin="4" name="LED_GREEN"/>
+/ <interface pin="5" name="MOTOR3_PWM"/>
+/ <interface pin="6" name="MOTOR4_PWM"/>
+ <interface pin="7" name="LED_AMBER"/>
+ <interface pin="8" name="LED_RED"/>
+/ <interface pin="9" name="LED_UV"/>
+/ <interface pin="10" name="LED_EMERGENCY"/>
+ <!--
+ Top connection is looking from above with the aduino on the buttom left
+ and the beagle board on the bottom right.
+
+ _ _ _ _ _
+ | 1 | 2 |
+ | 3 | 4 |
+ | 5 | 6 |
+ | 7 | 8 |
+ | 9 | 10|
+ - - - - -
+
+ 1. TOP1
+ 2. TOP2
+ 3. TOP3
+ 4. TOP4
+ 5. TOP5
+ 6. TOP6
+ 7. TOP7 (NC)
+ 8. TOP8 (NC)
+ 9. 5V (NC)
+ 10. GND (NC)
+
+ TOP3, TOP5 and TOP7 have PWM capabilities on the Mega2560's timer 1
+ -->
+ <interface pin="11" name="TOP7" not-connected="true"/>
+ <interface pin="12" name="TOP5" not-connected="true"/>
+ <interface pin="13" name="TOP3" not-connected="true"/>
+/ <interface pin="14" name=""/>
+/ <interface pin="15" name=""/>
+/ <interface pin="16" name=""/>
+/ <interface pin="17" name=""/>
+/ <interface pin="18" name=""/>
+/ <interface pin="19" name=""/>
+/ <interface pin="20" name="I2C_SDA" not-connected="true"/>
+/ <interface pin="21" name="I2C_SCL" not-connected="true"/>
+ <interface pin="22" name="MOTOR1_A"/>
+ <interface pin="23" name="MOTOR1_B"/>
+ <interface pin="24" name="MOTOR2_A"/>
+ <interface pin="25" name="MOTOR2_B"/>
+ <interface pin="26" name="MOTOR3_A"/>
+ <interface pin="27" name="MOTOR3_B"/>
+ <interface pin="28" name="MOTOR4_A"/>
+ <interface pin="29" name="MOTOR4_B"/>
+ <interface pin="30" name="BRIDGE1"/>
+ <interface pin="31" name="BRIDGE2"/>
+ <interface pin="32" name="BRIDGE3"/>
+ <interface pin="33" name="BRIDGE4"/>
+ <interface pin="34" name="BRIDGE5"/>
+ <interface pin="35" name="BRIDGE6"/>
+ <interface pin="36" name="BEAGLEBOARD_RESET"/>
+ <interface pin="37" name="CHARGER_DETECT"/>
+ <interface pin="38" name="REGULATOR_ENABLE"/>
+ <interface pin="39" name="MOTOR1_ENCODER1"/>
+ <interface pin="40" name="MOTOR1_ENCODER2"/>
+ <interface pin="41" name="MOTOR2_ENCODER1"/>
+ <interface pin="42" name="MOTOR2_ENCODER2"/>
+ <interface pin="43" name="MOTOR3_ENCODER1"/>
+ <interface pin="44" name="MOTOR3_ENCODER2"/>
+ <interface pin="45" name="MOTOR4_ENCODER1"/>
+ <interface pin="46" name="MOTOR5_ENCODER2"/>
+ <interface pin="47" name="PROXIMITY_SERVO"/>
+ <interface pin="48" name="PROXIMITY_ENCODER"/>
+
+
+ <interface pin="42" name="BATTERY_LOW"/>
+ <interface pin="44" name="LED_STATUS_GREEN"/>
+ <interface pin="46" name="LED_STATUS_YELLOW"/>
+ <interface pin="48" name="BATTERY_EMPTY"/>
+ <interface pin="50" name="BATTERY_MEDIUM"/>
+ <interface pin="52" name="BATTERY_HIGH"/>
+
+
+ <!-- Analog -->
+ <interface pin="A0" name="MOTOR1_CS"/>
+ <interface pin="A1" name="MOTOR2_CS"/>
+ <interface pin="A2" name="MOTOR3_CS"/>
+ <interface pin="A3" name="MOTOR4_CS"/>
+ <interface pin="A4" name="PROXIMITY1"/>
+ <interface pin="A5" name="PROXIMITY2"/>
+ <interface pin="A6" name="PROXIMITY3"/>
+ <interface pin="A7" name="PROXIMITY4"/>
+ <!-- Battery voltage divider: R1 = 16.05k, R2 = 9.87k -->
+ <interface pin="A8" name="BATTERY"/>
+ <interface pin="A9" not-connected="true"/>
+ <interface pin="A10" not-connected="true"/>
+ <interface pin="A11" not-connected="true"/>
+ <interface pin="A12" not-connected="true"/>
+ <interface pin="A13" not-connected="true"/>
+ <interface pin="A14" not-connected="true"/>
+ <interface pin="A15" not-connected="true"/>
+ </arduino>
+</interfaces>
1  mecanum-launch/install-arduino-cmake
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+sudo apt-get install arduino-core
43 mecanum-launch/install-ros.sh
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+#!/bin/bash
+
+# Install ROS Fuerte
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+sudo apt-get update
+sudo apt-get install ros-fuerte-ros-comm
+if [ -f ~/ros_setup.sh ]
+then
+
+ cat > ~/ros_setup.sh <<EOF
+#!/bin/sh
+source /opt/ros/electric/setup.bash
+export ROS_ROOT=/opt/ros/electric/ros
+export PATH=$ROS_ROOT/bin:$PATH
+export PYTHONPATH=$ROS_ROOT/core/roslib/src:$PYTHONPATH
+export ROS_PACKAGE_PATH=~/ros_workspace:/opt/ros/electric/stacks:$ROS_PACKAGE_PATH
+EOF
+
+echo "export ROS_PACKAGE_PATH=~/ros_workspace:$ROS_PACKAGE_PATH" >> ~/.bashrc
+echo "export ROS_WORKSPACE=~/ros_workspace" >> ~/.bashrc
+
+fi
+
+echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc
+
+# Install rosdep
+sudo apt-get install easy_install
+sudo easy_install -U rosdep rospkg
+sudo rosdep init
+rosdep update
+arduino_core_found = $(rosdep db | grep "arduino-core")
+if [ $? -eq 1]; then
+ echo "yaml https://github.com/garbear/rosdistro/raw/master/rosdep/base.yaml" > /etc/ros/rosdep/sources.list.d/666-mecanum.list
+ rosdep update
+fi
+
+# Install rosinstall
+#sudo easy_install -U rosinstall vcstools
+
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+
+
8 stack.xml
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+<stack>
+ <description brief="mecanum-bot">Mecanum Bot</description>
+ <author>Maintained by Garrett Brown</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/Mecanum-Bot</url>
+ <depend stack="ros" />
+</stack>
16 stack.yaml
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+Catkin-ProjectName: mecanum
+Description: Mecanum Bot
+Author: Garrett Brown <garbearucla@gmail.com>
+Maintainer: Mecanum Bot feels unloved
+Homepage: http://www.ros.org/wiki/mecanum
+
+Version: 1.0
+
+Depends: arduino-core
+# genmsg,
+# libboost-thread-dev,
+# libboost-date-time-dev,
+# gtest
+
+Catkin-CopyrightType: Garrett Brown
+Catkin-DebRulesType: cmake
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