cels_force_gen.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>

#include <string.h>
#include <stdio.h>
#include <math.h>
#include <cmath>
#include <numeric>
#include <assert.h>
#include <sstream>

#include <haptic_force/Force.h>

#include <pressure_cells/Cop.h>


haptic_force::Force force;


void COPCallBk ( const pressure_cells::Cop &COP );

int main ( int argc, char **argv )
{
    // Generate a simple force to send a message to phantom_control
    ros::init( argc, argv, "cell_force" );
    
    ros::NodeHandle n("~");

    ros::Publisher pub_force = n.advertise< haptic_force::Force >( "/force", 1000 );

    ros::Subscriber sub_cop = n.subscribe ( "/cop_left_right", 1000, COPCallBk );

    ros::Rate loop_rate( 1.5*1300 );

    force.force[1]=0.49;

    int pid = getpid(), rpid;

    boost::format fmt("sudo renice -10 %d");
    fmt % pid;
    
    rpid = std::system(fmt.str().c_str());
    
    while(ros::ok())
    {
        //force.force[0]=force2send[0];
        //force.force[1]=force2send[1];
        //force.force[2]=force2send[2];
        force.header.stamp = ros::Time::now (  );
        pub_force.publish( force );

        //force2send[0]+=0.01;
        //force2send[2]+=0.01;

        //if(force2send[0]>1.5) force2send[0]=-1.5;
        //if(force2send[2]>1.5) force2send[2]=-1.5;

        ros::spinOnce (  );
        
        loop_rate.sleep (  );
    }


    return 0;
}


void COPCallBk ( const pressure_cells::Cop &COP )
{
    double XX, YY;
    
    XX=COP.copx;
    YY=COP.copy;


    
    
    
    // É necessário acertar os coeficientes da recta depois de calbrar as celulas de carga
    
    // Mostra o desequilibrio => direçao de força igual a posiçao do COP
    force.force[0]=( (2.5 - (-2.5)) / (0.14 - 0.0) )*YY - 2.5;      // limite da força / limite do COP (esperado)
    force.force[2]=( (2.5 - (-2.5)) / (0.046 - (-0.046)) )*XX;       // limite da força / limite do COP (esperado)

    if (abs(force.force[2]) < 0.75)
    {
        force.force[2]=0;
    }
    else if((force.force[2]) <= - 0.75)
    {
        force.force[2]+=  0.75;
    }
    else if((force.force[2]) >= 0.75)
    {
        force.force[2]+=  - 0.75;
    }

    if (abs(force.force[0]) < 0.75)
    {
        force.force[0]=0;
    }
    else if((force.force[0]) <= - 0.75)
    {
        force.force[0]+= 0.75;
    }
    else if((force.force[0]) >= 0.75)
    {
        force.force[0]+=  - 0.75;
    }
    
    //std::cout<<"Força em XX : "<<force.force[0]<<"\tForça em ZZ : "<<force.force[2]<<std::endl;

    //force.force[0]=0.0;
    //force.force[2]=0.0;
    
    //force.force[1]=2.0;
    
}