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Adding option to choose RS232 communication #5

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Adding option to choose RS232 communication #5

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1 change: 1 addition & 0 deletions epos_hardware/include/epos_hardware/epos.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ class Epos {
EposFactory* epos_factory_;
std::string name_;
std::string actuator_name_;
std::string comm_protocol_;
uint64_t serial_number_;
OperationMode operation_mode_;
NodeHandlePtr node_handle_;
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1 change: 1 addition & 0 deletions epos_hardware/launch/example.yaml
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Expand Up @@ -4,6 +4,7 @@
my_joint_actuator:
actuator_name: 'test_joint_actuator'
serial_number: '662080000026'
communication_protocol: 'RS232' # or USB
operation_mode: 'profile_velocity'
clear_faults: true

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43 changes: 34 additions & 9 deletions epos_hardware/src/util/epos.cpp
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Expand Up @@ -20,6 +20,11 @@ Epos::Epos(const std::string& name,
valid_ = false;
}

if(!config_nh_.getParam("communication_protocol", comm_protocol_)) {
ROS_WARN("You haven't specified which communication protocol you want to use\nWill be USB by default");
valid_ = false;
}

std::string serial_number_str;
if(!config_nh_.getParam("serial_number", serial_number_str)) {
ROS_ERROR("You must specify a serial number");
Expand Down Expand Up @@ -139,16 +144,36 @@ bool Epos::init() {

ROS_INFO_STREAM("Initializing: 0x" << std::hex << serial_number_);
unsigned int error_code;
node_handle_ = epos_factory_->CreateNodeHandle("EPOS2", "MAXON SERIAL V2", "USB", serial_number_, &error_code);
if(!node_handle_) {
ROS_ERROR("Could not find motor");
return false;

if((comm_protocol_ == "USB") || (comm_protocol_ == "")){
node_handle_ = epos_factory_->CreateNodeHandle("EPOS2", "MAXON SERIAL V2", "USB", serial_number_, &error_code);
if(!node_handle_) {
ROS_ERROR("Could not find motor");
return false;
}
ROS_INFO_STREAM("Found Motor");
if(!VCS_SetProtocolStackSettings(node_handle_->device_handle->ptr, 1000000, 500, &error_code)) {
ROS_ERROR("Failed to SetProtocolStackSettings");
return false;
}
}
ROS_INFO_STREAM("Found Motor");

if(!VCS_SetProtocolStackSettings(node_handle_->device_handle->ptr, 1000000, 500, &error_code)) {
ROS_ERROR("Failed to SetProtocolStackSettings");
return false;
else{
if(comm_protocol_ == "RS232"){
node_handle_ = epos_factory_->CreateNodeHandle("EPOS2", "MAXON_RS232", "RS232", serial_number_, &error_code);
if(!node_handle_) {
ROS_ERROR("Could not find motor");
return false;
}
ROS_INFO_STREAM("Found Motor");
if(!VCS_SetProtocolStackSettings(node_handle_->device_handle->ptr, 115200, 500, &error_code)) {
ROS_ERROR("Failed to SetProtocolStackSettings");
return false;
}
}
else{
ROS_ERROR_STREAM("Specified communication protocol was : "<<comm_protocol_<<" . Must be either USB or RS232");
return false;
}
}

if(!VCS_SetDisableState(node_handle_->device_handle->ptr, node_handle_->node_id, &error_code)) {
Expand Down