cosmotechs_driver

This package contains driver nodes for control and mesurement board by CosmoTechs.

The supported products are:

• Dual axis motor control board PCPG-23I(F)
• 32bit Digital I/O board PCIO-32H/A

Quick start with the test bed

Install drivers

$ roscd cosmotechs_driver/script
$ sudo ./install.sh

pcpg23i_node

Start the launch file as:

$ roslaunch cosmotechs_driver pcpg23i.launch

Publish command with check.py as:

$ rosrun cosmotechs_driver check.py 6.28 10

With this command, the motor rotates a round in 10 seconds. It commands the angle and duration of motion.

pcio32ha_node

Start the launch file as:

$ roslaunch cosmotechs_driver pcio32ha.launch

Publish command with rosservice as:

$ rosservice call /pcio32ha_node/set_port_bit 0 0 1

This set the bit[0] on port[0] to 1.

$ rosservice call /pcio32ha_node/set_port_bit 0 0 0

This set the bit[0] on port[0] to 0. In the testbed, this port is connected to a electric relay, so you can hear click noises with this command.

To get the input port status,

$ rosservice call /pcio32ha_node/get_port_bit 0 0 0
data: 0

This get the bit[0] on port[0]. In the test bed, this bit is connected to the toggle switch, so you can get the status of the switch.

ROS Nodes

pcpg23i_node

pcg23i_node is a driver for PCPG-23I(F).

Actions

• command (cosmotechs_driver/MultiJointPosition)

Services

• reset_angle (void) This service reset the motor angle to zero. No arguments and results.

Parameters

• loopback (bool) When this parameter set to true, the node doesn't access actual hardware. Default is false.

• board_id (int) This parameter is set to specify the board id to access. Default is 0.

• pulse_per_round (float) This parameter is set to specify the number of pulse when the motor move a round. Default is 50000.

• acc_time (float) This parameter is set to specify the acceleration/deceleration time in the tapezoidal trajectory. Default is 0.2.

pcio32ha_node

Services

• get_port (cosmotechs_driver/GetPort)
• set_port (cosmotechs_driver/SetPort)

Parameters

• loopback (bool) When this parameter set to true, the node doesn't access actual hardware. Default is false.

• board_id (int) This parameter is set to specify the board id to access. Default is 0.