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Fix raw31 relayboard phidgets #475

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merged 4 commits into from
Jun 10, 2016
Merged

Fix raw31 relayboard phidgets #475

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d827552
use phidgets rather than simulated relayboard on raw3-1
fmessmer Feb 4, 2016
1a93d8f
Merge branch 'indigo_dev' of github.com:ipa320/cob_robots into fix_ra…
fmessmer Feb 4, 2016
ce280f5
adjusted to latest parameter layout
fmessmer Feb 4, 2016
cd5c866
Merge branch 'indigo_dev' into fix_raw31_relayboard_phidgets
May 12, 2016
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13 changes: 9 additions & 4 deletions cob_bringup/robots/raw3-1.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<group>
<machine name="pc1" address="$(arg pc1)" env-loader="$(find cob_bringup)/env.sh" default="true"/>

<!-- pc monitor -->
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc1)" />
Expand All @@ -40,12 +41,9 @@
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_rear" />
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<include file="$(find cob_bringup)/drivers/phidgets.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/relayboard.launch" >
<arg name="sim" value="true" />
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
Expand Down Expand Up @@ -93,11 +91,18 @@

<!-- script server -->
<include file="$(find cob_script_server)/launch/script_server.launch" />

<!-- scan unifier -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

</group>

<group>
<machine name="pc2" address="$(arg pc2)" env-loader="$(find cob_bringup)/env.sh" default="true"/>

<!-- pc monitor -->
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc2)" />
Expand Down
25 changes: 25 additions & 0 deletions cob_hardware_config/raw3-1/config/phidgets.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
frequency: 30 #nodes update frequency in hz
update_mode: polling #switch between poll and event driven processing [polling, event]

boards:
ifk_general:
serial_num: 285651
ratiometric: true
sensors:
voltage:
type: analog
index: 0
current:
type: analog
index: 1
em_stop_laser_rear:
type: digital_in
index: 6
em_stop_laser_front:
type: digital_in
index: 7
example1:
type: analog
index: 4
change_trigger: 10 #the sensors change trigger value (only event driven mode)
data_rate: 20 #ports data rate