Merge pull request #122 in SOF/subcode from leviathan-in-water to master

Author: CUAUV

conf/ajax.toml

@@ -50,7 +50,7 @@ name = "aft_port"
 type = "T200"
 pos = [-0.271, -0.201, -0.0204]
 heading_pitch = [0.0, 90.0]
-reversed = true
+reversed = false
 
 [[thrusters]]
 name = "sway_aft"
@@ -78,7 +78,7 @@ name = "fore_starboard"
 type = "T200"
 pos = [0.235,  0.201, -0.0204]
 heading_pitch = [0.0, 90.0]
-reversed = true
+reversed = false
 
 [[thrusters]]
 name = "sway_fore"

libshm/vars.conf

@@ -830,6 +830,7 @@ connected_devices
     bool thrusters
     bool thrusters2
     bool thrusters_mini
+    bool thruster_board_2
     bool led
 
 deadman_settings

serial/seriald/conf/ajax.toml

@@ -1,6 +1,7 @@
 includes = [
-    "ports_ajax.toml",
-    "ajaxThruster.toml",
+    "leviathan_ports.toml",
+    "leviathanThruster1.toml",
+    "leviathanThruster2.toml",
     "him.toml",
     "ajaxPdActuator.toml",
     "sensor.toml",

serial/seriald/conf/leviathanThruster1.toml

@@ -0,0 +1,15 @@
+[devices.thrusters.vars]
+Thruster1PwmVal = "motor_desires.fore_starboard"
+Thruster2PwmVal = "motor_desires.starboard"
+Thruster3PwmVal = "motor_desires.sway_aft"
+Thruster4PwmVal = "motor_desires.aft_starboard"
+
+Thruster1PwmReadback = "ramp_status.fore_starboard_ramp"
+Thruster2PwmReadback = "ramp_status.starboard_ramp"
+Thruster3PwmReadback = "ramp_status.sway_aft_ramp"
+Thruster4PwmReadback = "ramp_status.aft_starboard_ramp"
+
+RampPeriod = "ramp.ramp_period"
+RampInc = "ramp.ramp_inc"
+RampDec = "ramp.ramp_dec"
+

serial/seriald/conf/leviathanThruster2.toml

@@ -0,0 +1,15 @@
+[devices.thruster_board_2.vars]
+Thruster1PwmVal = "motor_desires.aft_port"
+Thruster2PwmVal = "motor_desires.port"
+Thruster3PwmVal = "motor_desires.sway_fore"
+Thruster4PwmVal = "motor_desires.fore_port"
+
+Thruster1PwmReadback = "ramp_status.aft_port_ramp"
+Thruster2PwmReadback = "ramp_status.port_ramp"
+Thruster3PwmReadback = "ramp_status.sway_fore_ramp"
+Thruster4PwmReadback = "ramp_status.fore_port_ramp"
+
+RampPeriod = "ramp.ramp_period"
+RampInc = "ramp.ramp_inc"
+RampDec = "ramp.ramp_dec"
+

serial/seriald/conf/leviathan_ports.toml

@@ -0,0 +1,9 @@
+ports = [
+        "/dev/serial/by-id/usb-CUAUV_Kraken_3_AUV-KRAKEN3-if02-port0", # merge
+        "/dev/serial/by-id/usb-CUAUV_Kraken_2_AUV-KRAKEN2-if02-port0", # PD
+        "/dev/serial/by-id/usb-CUAUV_Kraken_4_AUV-KRAKEN4-if02-port0", # thruster 2
+        "/dev/serial/by-id/usb-CUAUV_Kraken_1_AUV-KRAKEN1-if00-port0", # thruster 1
+        "/dev/serial/by-id/usb-CUAUV_Kraken_4_AUV-KRAKEN4-if00-port0", # sensor
+        "/dev/serial/by-id/usb-CUAUV_Kraken_2_AUV-KRAKEN2-if03-port0", # actuators
+]
+

system_check/tests.py

@@ -67,7 +67,6 @@ def gpio_connected():
     def merge_connected():
         return shm.connected_devices.merge.get()
 
-    @vehicle(MAINSUB)
     def thrusters_connected():
         return shm.connected_devices.thrusters.get()
 
@@ -77,7 +76,7 @@ def thrusters2_connected():
 
     @vehicle(MINISUB)
     def thrusters_mini_connected():
-        return shm.connected_devices.thrusters_mini.get()
+        return shm.connected_devices.thruster_board_2.get()
 
     def power_distribution_connected():
         return shm.connected_devices.PD.get()

trogdor/trogdor.sh

@@ -24,7 +24,7 @@ VEHICLE_TYPE=$CUAUV_VEHICLE_TYPE
 if [ "$VEHICLE_TYPE" = "mainsub" ]; then
 	GX_PORT=$(readlink -f /dev/serial/by-id/usb-CUAUV_ODAX_3_ODAX3-if01-port0)
 elif [ "$VEHICLE_TYPE" = "minisub" ]; then
-	GX_PORT=$(readlink -f /dev/serial/by-id/usb-CUAUV_ODAX_3_ODAX3-if01-port0)
+	GX_PORT=$(readlink -f /dev/serial/by-id/usb-CUAUV_Kraken_4_AUV-KRAKEN4-if01-port0)
 fi
 DVL_PORT=/dev/serial/by-id/usb-CUAUV_ODAX_1_ODAX1-if00-port0