Gps and drive system nodes added

Drive System/sub joynode pub roverdrive

@@ -0,0 +1,106 @@
+#!/usr/bin/env python
+import rospy
+from sensor_msgs.msg import Joy
+from geometry_msgs.msg import Point
+from numpy import interp
+
+
+ #if turned on the direction is reversed
+
+pwm=[0,0,0]
+
+point = Point()
+
+
+def find_pwmtest3(msg):
+    '''dir_n = 0 
+
+    pwm[2] = dir_n 
+    pwmtotal=interp(msg.axes[2],[-1,1],[-255,255])
+
+    if (pwmtotal < 0):
+	dir_n = 1
+ 	pwm[2] = dir_n  
+        pwmtotal=pwmtotal*-1
+    if (msg.buttons[4] == 1):
+       pwm[0]=pwmtotal
+    if (msg.buttons[4] == 0):
+       pwm[0]=0   
+    if (msg.buttons[5] == 1):
+       pwm[1]=pwmtotal
+    if (msg.buttons[5] == 0):
+       pwm[1]=0
+      '''
+    pwmtotal=interp(msg.axes[1],[-1,1],[-255,255])
+    pwmdir=interp(msg.axes[2],[-1,1],[-155,155])
+    pwm[2]=0
+    if(pwmtotal<0):
+	pwm[2]=1
+        pwmtotal=pwmtotal*-1
+    if(pwmdir>=0):
+        pwm[0]=pwmtotal-pwmdir
+	pwm[1]=0
+    if(pwmdir<0):
+	pwm[0]=0
+	pwm[1]=pwmtotal+pwmdir
+    #rospy.loginfo("left  pwm %f",pwm[0])
+    #rospy.loginfo("right pwm %f",pwm[1])
+    rospy.loginfo(pwm)
+
+def find_pwmtest2(msg):
+    dir_n = 0 
+
+    pwm[2] = dir_n 
+    pwmtotal=interp(msg.axes[2],[-1,1],[-255,255])
+
+    if (pwmtotal < 0):
+	dir_n = 1
+ 	pwm[2] = dir_n  
+        pwmtotal=pwmtotal*-1
+    if (msg.buttons[4] == 1):
+       pwm[0]=pwmtotal
+    if (msg.buttons[4] == 0):
+       pwm[0]=0   
+    if (msg.buttons[5] == 1):
+       pwm[1]=pwmtotal
+    if (msg.buttons[5] == 0):
+       pwm[1]=0
+
+    #rospy.loginfo("left  pwm %f",pwm[0])
+    #rospy.loginfo("right pwm %f",pwm[1])
+    rospy.loginfo(pwm)
+
+
+def find_pwmtest1(msg): #1st case when 2 pwm valus are send for left ans right seperately
+    pwm=[0,0]
+    valL= msg.axes[1]
+    valR= msg.axes[2]
+    pwm[0]=interp(valL,[0,1],[0,255])
+    pwm[1]=interp(valR,[0,1],[0,255])
+    rospy.loginfo("left  pwm %f",pwm[0])
+    rospy.loginfo("right pwm %f",pwm[1])
+
+def transform(a):
+    point.x = pwm[0] 
+    point.y = pwm[1]
+    point.z = pwm[2]  
+
+def callback(msg):
+    rate = rospy.Rate(100)
+    find_pwmtest3(msg)
+    point.x = pwm[0] 
+    point.y = pwm[1]
+    point.z = pwm[2]
+    pub = rospy.Publisher('rover_drive', Point ,queue_size=100)  
+    pub.publish(point)
+    rate.sleep()
+    #rospy.loginfo("I heard %f",msg.buttons[])
+
+
+def listener():
+    rospy.init_node('listener_joy', anonymous=True)
+    rospy.Subscriber("joy", Joy, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

Drive System/sub roverdrive and sending serialcom to arduino

@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import Point
+import serial  
+import time
+
+arduino = serial.Serial('/dev/ttyACM0', 9600, timeout=.1)
+
+
+def callback(data):
+    valL=data.x
+    if (valL == 0.0):
+    	valL=str("000")
+    else:    
+	valL=str(int(valL))
+
+    valR=data.y
+    if (valR == 0.0):
+    	valR=str("000")
+    else:  
+        valR=str(int(valR))
+
+    valD=data.z
+    if (valD == 0.0):
+    	valD=str("0")
+    else:  
+	valD=str(int(valD))
+
+    val= valL + " " + valR + " " + valD + " " + '\0'
+
+    rospy.loginfo(val)
+    arduino.write(val)
+
+def listener():
+
+    rospy.init_node('pwmreciver', anonymous=True)
+
+    rospy.Subscriber("rover_drive", Point , callback)
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()
+

arduino code for serialcom

@@ -0,0 +1,56 @@
+
+int data;
+long unsigned int totaldata;
+char dataL[4],dataR[4], dataD[4];
+void setup() {
+	Serial.begin(9600);
+         pinMode(9,OUTPUT);
+         pinMode(8,OUTPUT);
+         pinMode(10,OUTPUT);
+}
+void loop() {
+	if(Serial.available() > 0) {
+		char buffer[] = {' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' '}; // Receive up to 10 bytes
+                while (!Serial.available()); // Wait for characters
+                Serial.readBytesUntil('\0', buffer, 14);
+                  int x=0,i=0,j=0,y=0,val3=0;
+                  while(buffer[i]!=' ')
+                 {
+                   dataL[x]=buffer[i];
+                   i++;
+                   x++;
+                 }
+                   dataL[x]='\0';
+                    i++;
+
+                 while(buffer[i]!=' ')
+                 {
+                   dataR[j]=buffer[i];
+                   i++;
+                   j++;
+                 }
+                   dataR[j]='\0';
+                   i++;
+                 if(buffer[i]=='1')
+                   val3=1;
+
+                 int val1 = atoi(dataL);
+                 int val2 = atoi(dataR);
+
+                 //dataD=totaldata%1000;
+                 //totaldata
+
+                val1=(int(val1/10))*10;
+                val2=(int(val2/10))*10;
+
+                Serial.print(val1);
+                Serial.print(",");
+                Serial.print(val2);
+                Serial.print("'");
+                Serial.println(val3);
+                analogWrite(9,val1);
+                analogWrite(10,val2); 
+                digitalWrite(8,val3);
+	}
+
+}