Cobra_ros.h

Go to the documentation of this file.

#pragma once
 
#include <ros/ros.h>
#include <thread>
#include <stdio.h>
#include <unistd.h>
#include "VMXIO.h"
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <std_msgs/Int16.h>
#include <std_msgs/Float32.h>
#include <sys/syscall.h>
 
#define DELAY                       0.001
#define POINTER_CONVERT             0X0000
#define POINTER_CONFIG              0x0001
#define POINTER_LOWTHRESH           0x0002
#define POINTER_HITHRESH            0x0003
#define CONFIG_OS_NO                0x8000
#define CONFIG_OS_SINGLE            0x8000
#define CONFIG_OS_READY             0x8000
#define CONFIG_OS_NOTREADY          0x8000
#define CONFIG_MODE_CONT            0x0000
#define CONFIG_MODE_SINGLE          0x0100
#define CONFIG_MUX_SINGLE_0         0x4000
#define CONFIG_MUX_SINGLE_1         0x5000
#define CONFIG_MUX_SINGLE_2         0x6000
#define CONFIG_MUX_SINGLE_3         0x7000
#define CONFIG_MUX_DIFF_PO_N1       0x0000
#define CONFIG_MUX_DIFF_PO_N3       0x1000
#define CONFIG_MUX_DIFF_P1_N3       0x2000
#define CONFIG_MUX_DIFF_P2_N3       0x3000
#define CONFIG_RATE_128HZ           0x0000
#define CONFIG_RATE_250HZ           0x0020
#define CONFIG_RATE_490HZ           0x0040
#define CONFIG_RATE_920HZ           0x0060
#define CONFIG_RATE_1600HZ          0x0080
#define CONFIG_RATE_2400HZ          0x00A0
#define CONFIG_RATE_3300HZ          0x00C0
#define CONFIG_PGA_MASK             0x0E00
#define CONFIG_PGA_TWOTHIRDS        0x0000 // +/- 6.144V
#define CONFIG_PGA_1                0x0200 // +/- 4.096V
#define CONFIG_PGA_2                0x0400 // +/- 2.048V
#define CONFIG_PGA_4                0x0600 // +/- 1.024V
#define CONFIG_PGA_8                0x0800 // +/- 0.512V
#define CONFIG_PGA_16               0x0A00 // +/- 0.256V
#define CONFIG_CMODE_TRAD           0x0000
#define CONFIG_CMODE_WINDOW         0x0010
#define CONFIG_CPOL_ACTVLOW         0x0000
#define CONFIG_CPOL_ACTVHI          0x0008
#define CONFIG_CLAT_NOLAT           0x0000
#define CONFIG_CLAT_LATCH           0x0004
#define CONFIG_CQUE_1CONV           0x0000
#define CONFIG_CQUE_2CONV           0x0001
#define CONFIG_CQUE_4CONV           0x0002
#define CONFIG_CQUE_NONE            0x0003
 
class CobraROS : public Utils {
    private:
        VMXIO *io; // IO class of VMXPi
        VMXResourceHandle i2c_res_handle;
        float vRef;
        int mode, gain, rate;
        uint8_t deviceAddress;
        
        ros::Publisher c0_raw_pub, c0_v_pub, 
                        c1_raw_pub, c1_v_pub, 
                        c2_raw_pub, c2_v_pub,
                        c3_raw_pub, c3_v_pub;
                            
        int GetSingle(uint8_t channel);
      
    std::thread runth;
    
    public:
        CobraROS(ros::NodeHandle *nh, VMXPi *vmx);
 
        CobraROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t deviceAddress_);
 
        CobraROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t deviceAddress_, float vRef_);
 
        ~CobraROS();
 
        bool IsConnected(); // check if the cobra is connected
        int GetRawValue(uint8_t channel); // get raw value from the cobra
 
        float GetVoltage(uint8_t channel); // convert raw value to voltage 
 
        void Run_t();
     
};