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scoutos / scout / libscout / src / EncodersControl.cpp @ 3a73516c

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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file EncodersControl.cpp
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 * @brief Contains encoder function implementation
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 *
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 * @defgroup encoderscontrol EncodersControl
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 * @brief Functions which a behavior can use to control the encoders.
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 * @ingroup behavior
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 * 
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 * @author Colony Project, CMU Robotics Club
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 * @author Alex Zirbel
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 */
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#include "EncodersControl.h"
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using namespace std;
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/**
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 * @brief Initialize the encoders module of libscout.
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 */
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EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node,
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                                 string scoutname)
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    : node(libscout_node)
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{
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    query_client = node.serviceClient< ::messages::query_encoders>(
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            scoutname+"/query_encoders");
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    reset_client = node.serviceClient< ::messages::reset_encoders>(
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            scoutname+"/reset_encoders");
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}
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/**
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 * @brief Returns the current tick count of the encoders.
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 */
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encoder_readings EncodersControl::query()
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{
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    // Set scan range
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    ::messages::query_encoders srv;
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    encoder_readings cur_readings;
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    if (!query_client.call(srv))
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    {
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        ROS_ERROR("EncodersControl query failed.");
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    }
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    cur_readings.fl_ticks = srv.response.fl_distance;
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    cur_readings.fr_ticks = srv.response.fr_distance;
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    cur_readings.bl_ticks = srv.response.bl_distance;
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    cur_readings.br_ticks = srv.response.br_distance;
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    return cur_readings;
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}
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/**
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 * @brief Resets the encoder tick count to 0.
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 */
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void EncodersControl::reset()
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{
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    ::messages::reset_encoders srv;
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    if (!reset_client.call(srv))
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    {
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        ROS_ERROR("EncodersControl reset failed.");
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    }
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}
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/** @} */