[Personalrobots-commit] SF.net SVN: personalrobots:[8050] pkg/trunk

[<hsu...@us...>]

Revision: 8050
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8050&view=rev
Author:   hsujohnhsu
Date:     2008-12-13 01:58:55 +0000 (Sat, 13 Dec 2008)

Log Message:
-----------
update battery controller in gazebo with default consumption rate of -10 J/s.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
    pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
    pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h	2008-12-13 01:22:37 UTC (rev 8049)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h	2008-12-13 01:58:55 UTC (rev 8050)
@@ -151,14 +151,12 @@
 
   /// \brief power drain, if this is negative, we are charging the battery.
   private: double consumption_rate_;
+  private: double default_consumption_rate_;
 
   /// \brief listen to ROS to see if we are charging
   private: void SetPlug();
   private: gazebo_plugin::PlugCommand plug_msg_;
 
-/// @todo make DISCHAGE_RATE something else
-#define DISCHARGE_RATE 1.0
-
 };
 
 /** \} */

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp	2008-12-13 01:22:37 UTC (rev 8049)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp	2008-12-13 01:58:55 UTC (rev 8050)
@@ -82,8 +82,9 @@
     /// faking the plug and unplug of robot
     rosnode_->subscribe("plugged_in",this->plug_msg_,&GazeboBattery::SetPlug,this,10);
 
+    this->default_consumption_rate_       = node->GetDouble("default_consumption_rate",-10.0,0);
     this->full_capacity_       = node->GetDouble("full_charge_energy",0.0,0);
-    this->default_charge_rate_ = node->GetDouble("default_charge_rate",-2.0,0);
+    this->default_charge_rate_ = node->GetDouble("default_charge_rate",-10.0,0);
 
     /// @todo make below useful
     //this->diagnostic_rate_     = node->GetDouble("diagnostic_rate",1.0,0);
@@ -95,9 +96,9 @@
   {
     this->lock_.lock();
     if (this->plug_msg_.status == "the robot is very much plugged into the wall")
-      this->consumption_rate_ = this->default_charge_rate_ + DISCHARGE_RATE;
+      this->consumption_rate_ = this->default_charge_rate_ + this->default_consumption_rate_;
     else
-      this->consumption_rate_ = DISCHARGE_RATE;
+      this->consumption_rate_ = this->default_consumption_rate_;
     this->lock_.unlock();
   }
 
@@ -108,7 +109,7 @@
 
     /// initialize battery
     this->charge_           = this->full_capacity_; /// our convention is joules
-    this->consumption_rate_ = DISCHARGE_RATE; /// time based decay rate in watts
+    this->consumption_rate_ = this->default_consumption_rate_; /// time based decay rate in watts
   }
 
   void GazeboBattery::UpdateChild()
@@ -120,7 +121,7 @@
     /*   update battery                                       */
     /*                                                        */
     /**********************************************************/
-    this->charge_ = this->charge_ - (this->current_time_ - this->last_time_)*this->consumption_rate_;
+    this->charge_ = this->charge_ + (this->current_time_ - this->last_time_)*this->consumption_rate_;
     if (this->charge_ < 0) this->charge_ = 0;
     if (this->charge_ > this->full_capacity_) this->charge_ = this->full_capacity_;
     //std::cout << " battery charge remaining: " << this->charge_ << " Joules " << std::endl;
@@ -134,6 +135,7 @@
     this->battery_state_.header.stamp.sec = (unsigned long)floor(this->current_time_);
     this->battery_state_.header.stamp.nsec = (unsigned long)floor(  1e9 * (  this->current_time_ - this->battery_state_.header.stamp.sec) );
     this->battery_state_.energy_remaining = this->charge_;
+    this->battery_state_.energy_capacity = this->full_capacity_;
     this->battery_state_.power_consumption = this->consumption_rate_;
 
     this->lock_.lock();

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml	2008-12-13 01:22:37 UTC (rev 8049)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo_defs.xml	2008-12-13 01:58:55 UTC (rev 8050)
@@ -16,9 +16,10 @@
       <alwaysOn>true</alwaysOn>
       <updateRate>1.0</updateRate>
       <timeout>5</timeout>
+      <default_consumption_rate>-10.0</default_consumption_rate> <!-- -5 is the magic number, need to be smaller than that CM -->
       <diagnostic_rate>1.0</diagnostic_rate>
-      <battery_state_rate>1.0</battery_state_rate>
-      <full_charge_energy>120.0</full_charge_energy>
+      <battery_state_rate>10.0</battery_state_rate> <!-- does nothing for now-->
+      <full_charge_energy>1200000.0</full_charge_energy>
       <diagnosticTopicName>diagnostic</diagnosticTopicName>
       <stateTopicName>battery_state</stateTopicName>
       <selfTestServiceName>self_test</selfTestServiceName>


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