Revision 4589a2a9
Deleted compiler output files that were accidentally included in analog.
scout/analog/build/CMakeCache.txt | ||
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# This is the CMakeCache file. |
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# For build in directory: /home/dev/Robotics/scoutos/scout/analog/build |
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# It was generated by CMake: /usr/bin/cmake |
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# You can edit this file to change values found and used by cmake. |
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# If you do not want to change any of the values, simply exit the editor. |
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# If you do want to change a value, simply edit, save, and exit the editor. |
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# The syntax for the file is as follows: |
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# KEY:TYPE=VALUE |
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# KEY is the name of a variable in the cache. |
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# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!. |
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# VALUE is the current value for the KEY. |
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######################## |
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# EXTERNAL cache entries |
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######################## |
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//Path to a program. |
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CMAKE_AR:FILEPATH=/usr/bin/ar |
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//For backwards compatibility, what version of CMake commands and |
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// syntax should this version of CMake try to support. |
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CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4 |
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//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or |
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// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. |
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CMAKE_BUILD_TYPE:STRING= |
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//Enable/Disable color output during build. |
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CMAKE_COLOR_MAKEFILE:BOOL=ON |
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//CXX compiler. |
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CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ |
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//Flags used by the compiler during all build types. |
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CMAKE_CXX_FLAGS:STRING= |
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//Flags used by the compiler during debug builds. |
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CMAKE_CXX_FLAGS_DEBUG:STRING=-g |
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//Flags used by the compiler during release minsize builds. |
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CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG |
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//Flags used by the compiler during release builds (/MD /Ob1 /Oi |
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// /Ot /Oy /Gs will produce slightly less optimized but smaller |
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// files). |
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CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG |
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//Flags used by the compiler during Release with Debug Info builds. |
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CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g |
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//C compiler. |
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CMAKE_C_COMPILER:FILEPATH=/usr/bin/gcc |
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//Flags used by the compiler during all build types. |
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CMAKE_C_FLAGS:STRING= |
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//Flags used by the compiler during debug builds. |
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CMAKE_C_FLAGS_DEBUG:STRING=-g |
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//Flags used by the compiler during release minsize builds. |
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CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG |
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//Flags used by the compiler during release builds (/MD /Ob1 /Oi |
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// /Ot /Oy /Gs will produce slightly less optimized but smaller |
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// files). |
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CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG |
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//Flags used by the compiler during Release with Debug Info builds. |
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CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g |
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CMAKE_EXE_LINKER_FLAGS:STRING=' ' |
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//Flags used by the linker during debug builds. |
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//Flags used by the linker during release builds. |
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//Flags used by the linker during Release with Debug Info builds. |
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CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF |
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CMAKE_INSTALL_PREFIX:PATH=/usr/local |
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//Path to a program. |
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CMAKE_LINKER:FILEPATH=/usr/bin/ld |
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//Path to a program. |
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CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make |
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//Flags used by the linker during the creation of modules. |
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CMAKE_MODULE_LINKER_FLAGS:STRING=' ' |
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//Flags used by the linker during debug builds. |
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CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= |
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//Flags used by the linker during release minsize builds. |
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CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= |
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//Flags used by the linker during release builds. |
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CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= |
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//Flags used by the linker during Release with Debug Info builds. |
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CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= |
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//Path to a program. |
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CMAKE_NM:FILEPATH=/usr/bin/nm |
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CMAKE_PROJECT_NAME:STATIC=Project |
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//Flags used by the linker during the creation of dll's. |
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CMAKE_SHARED_LINKER_FLAGS:STRING=' ' |
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//Flags used by the linker during debug builds. |
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CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= |
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//Flags used by the linker during release minsize builds. |
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CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= |
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//Flags used by the linker during release builds. |
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CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= |
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//Flags used by the linker during Release with Debug Info builds. |
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CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= |
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//If set, runtime paths are not added when using shared libraries. |
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CMAKE_SKIP_RPATH:BOOL=NO |
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//Path to a program. |
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CMAKE_STRIP:FILEPATH=/usr/bin/strip |
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//No help, variable specified on the command line. |
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CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/opt/ros/electric/ros/core/rosbuild/rostoolchain.cmake |
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//If true, cmake will use relative paths in makefiles and projects. |
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CMAKE_USE_RELATIVE_PATHS:BOOL=OFF |
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//If this value is on, makefiles will be generated without the |
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// .SILENT directive, and all commands will be echoed to the console |
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// during the make. This is useful for debugging only. With Visual |
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// Studio IDE projects all commands are done without /nologo. |
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CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE |
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//Single output directory for building all executables. |
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EXECUTABLE_OUTPUT_PATH:PATH= |
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LIBRARY_OUTPUT_PATH:PATH= |
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//Path to a file. |
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PROJECTCONFIG:FILEPATH=PROJECTCONFIG-NOTFOUND |
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//Value Computed by CMake |
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Project_BINARY_DIR:STATIC=/home/dev/Robotics/scoutos/scout/analog/build |
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//Value Computed by CMake |
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Project_SOURCE_DIR:STATIC=/home/dev/Robotics/scoutos/scout/analog |
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//rospack executable |
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ROSPACK_EXE:FILEPATH=/opt/ros/electric/ros/bin/rospack |
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//Path to a file. |
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TOOLCHAINCONFIG:FILEPATH=TOOLCHAINCONFIG-NOTFOUND |
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//Path to a file. |
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USERCONFIG:FILEPATH=USERCONFIG-NOTFOUND |
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//Value Computed by CMake |
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analog_BINARY_DIR:STATIC=/home/dev/Robotics/scoutos/scout/analog/build |
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//Value Computed by CMake |
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analog_SOURCE_DIR:STATIC=/home/dev/Robotics/scoutos/scout/analog |
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######################## |
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# INTERNAL cache entries |
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######################## |
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//ADVANCED property for variable: CMAKE_AR |
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CMAKE_AR-ADVANCED:INTERNAL=1 |
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//What is the target build tool cmake is generating for. |
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//Path to ctest program executable. |
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CMAKE_CXX_COMPILER_WORKS:INTERNAL=1 |
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scout/analog/build/CMakeFiles/CMakeCCompiler.cmake | ||
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# define PLATFORM_ID "Windows" |
|
114 |
|
|
115 |
#elif defined(__FreeBSD__) || defined(__FreeBSD) |
|
116 |
# define PLATFORM_ID "FreeBSD" |
|
117 |
|
|
118 |
#elif defined(__NetBSD__) || defined(__NetBSD) |
|
119 |
# define PLATFORM_ID "NetBSD" |
|
120 |
|
|
121 |
#elif defined(__OpenBSD__) || defined(__OPENBSD) |
|
122 |
# define PLATFORM_ID "OpenBSD" |
|
123 |
|
|
124 |
#elif defined(__sun) || defined(sun) |
|
125 |
# define PLATFORM_ID "SunOS" |
|
126 |
|
|
127 |
#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) |
|
128 |
# define PLATFORM_ID "AIX" |
|
129 |
|
|
130 |
#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) |
|
131 |
# define PLATFORM_ID "IRIX" |
|
132 |
|
|
133 |
#elif defined(__hpux) || defined(__hpux__) |
|
134 |
# define PLATFORM_ID "HP-UX" |
|
135 |
|
|
136 |
#elif defined(__HAIKU) || defined(__HAIKU__) || defined(_HAIKU) |
|
137 |
# define PLATFORM_ID "Haiku" |
|
138 |
/* Haiku also defines __BEOS__ so we must |
|
139 |
put it prior to the check for __BEOS__ |
|
140 |
*/ |
|
141 |
|
|
142 |
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) |
|
143 |
# define PLATFORM_ID "BeOS" |
|
144 |
|
|
145 |
#elif defined(__QNX__) || defined(__QNXNTO__) |
|
146 |
# define PLATFORM_ID "QNX" |
|
147 |
|
|
148 |
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) |
|
149 |
# define PLATFORM_ID "Tru64" |
|
150 |
|
|
151 |
#elif defined(__riscos) || defined(__riscos__) |
|
152 |
# define PLATFORM_ID "RISCos" |
|
153 |
|
|
154 |
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) |
|
155 |
# define PLATFORM_ID "SINIX" |
|
156 |
|
|
157 |
#elif defined(__UNIX_SV__) |
|
158 |
# define PLATFORM_ID "UNIX_SV" |
|
159 |
|
|
160 |
#elif defined(__bsdos__) |
|
161 |
# define PLATFORM_ID "BSDOS" |
|
162 |
|
|
163 |
#elif defined(_MPRAS) || defined(MPRAS) |
|
164 |
# define PLATFORM_ID "MP-RAS" |
|
165 |
|
|
166 |
#elif defined(__osf) || defined(__osf__) |
|
167 |
# define PLATFORM_ID "OSF1" |
|
168 |
|
|
169 |
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) |
|
170 |
# define PLATFORM_ID "SCO_SV" |
|
171 |
|
|
172 |
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) |
|
173 |
# define PLATFORM_ID "ULTRIX" |
|
174 |
|
|
175 |
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) |
|
176 |
# define PLATFORM_ID "Xenix" |
|
177 |
|
|
178 |
#else /* unknown platform */ |
|
179 |
# define PLATFORM_ID "" |
|
180 |
|
|
181 |
#endif |
|
182 |
|
|
183 |
/* For windows compilers MSVC and Intel we can determine |
|
184 |
the architecture of the compiler being used. This is because |
|
185 |
the compilers do not have flags that can change the architecture, |
|
186 |
but rather depend on which compiler is being used |
|
187 |
*/ |
|
188 |
#if defined(_WIN32) && defined(_MSC_VER) |
|
189 |
# if defined(_M_IA64) |
|
190 |
# define ARCHITECTURE_ID "IA64" |
|
191 |
|
|
192 |
# elif defined(_M_X64) || defined(_M_AMD64) |
|
193 |
# define ARCHITECTURE_ID "x64" |
|
194 |
|
|
195 |
# elif defined(_M_IX86) |
|
196 |
# define ARCHITECTURE_ID "X86" |
|
197 |
|
|
198 |
# else /* unknown architecture */ |
|
199 |
# define ARCHITECTURE_ID "" |
|
200 |
# endif |
|
201 |
|
|
202 |
#else |
|
203 |
# define ARCHITECTURE_ID "" |
|
204 |
#endif |
|
205 |
|
|
206 |
/* Construct the string literal in pieces to prevent the source from |
|
207 |
getting matched. Store it in a pointer rather than an array |
|
208 |
because some compilers will just produce instructions to fill the |
|
209 |
array rather than assigning a pointer to a static array. */ |
|
210 |
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; |
|
211 |
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; |
|
212 |
|
|
213 |
|
|
214 |
|
|
215 |
/*--------------------------------------------------------------------------*/ |
|
216 |
|
|
217 |
#ifdef ID_VOID_MAIN |
|
218 |
void main() {} |
|
219 |
#else |
|
220 |
int main(int argc, char* argv[]) |
|
221 |
{ |
|
222 |
int require = 0; |
|
223 |
require += info_compiler[argc]; |
|
224 |
require += info_platform[argc]; |
|
225 |
require += info_arch[argc]; |
|
226 |
(void)argv; |
|
227 |
return require; |
|
228 |
} |
|
229 |
#endif |
scout/analog/build/CMakeFiles/CompilerIdCXX/CMakeCXXCompilerId.cpp | ||
---|---|---|
1 |
/* This source file must have a .cpp extension so that all C++ compilers |
|
2 |
recognize the extension without flags. Borland does not know .cxx for |
|
3 |
example. */ |
|
4 |
#ifndef __cplusplus |
|
5 |
# error "A C compiler has been selected for C++." |
|
6 |
#endif |
|
7 |
|
|
8 |
#if defined(__COMO__) |
|
9 |
# define COMPILER_ID "Comeau" |
|
10 |
|
|
11 |
#elif defined(__INTEL_COMPILER) || defined(__ICC) |
|
12 |
# define COMPILER_ID "Intel" |
|
13 |
|
|
14 |
#elif defined(__clang__) |
|
15 |
# define COMPILER_ID "Clang" |
|
16 |
|
|
17 |
#elif defined(__BORLANDC__) |
|
18 |
# define COMPILER_ID "Borland" |
|
19 |
|
|
20 |
#elif defined(__WATCOMC__) |
|
21 |
# define COMPILER_ID "Watcom" |
|
22 |
|
|
23 |
#elif defined(__SUNPRO_CC) |
|
24 |
# define COMPILER_ID "SunPro" |
|
25 |
|
|
26 |
#elif defined(__HP_aCC) |
|
27 |
# define COMPILER_ID "HP" |
|
28 |
|
|
29 |
#elif defined(__DECCXX) |
|
30 |
# define COMPILER_ID "Compaq" |
|
31 |
|
|
32 |
#elif defined(__IBMCPP__) |
|
33 |
# if defined(__COMPILER_VER__) |
|
34 |
# define COMPILER_ID "zOS" |
|
35 |
# elif __IBMCPP__ >= 800 |
|
36 |
# define COMPILER_ID "XL" |
|
37 |
# else |
|
38 |
# define COMPILER_ID "VisualAge" |
|
39 |
# endif |
|
40 |
|
|
41 |
#elif defined(__PGI) |
|
42 |
# define COMPILER_ID "PGI" |
|
43 |
|
|
44 |
#elif defined(__PATHSCALE__) |
|
45 |
# define COMPILER_ID "PathScale" |
|
46 |
|
|
47 |
#elif defined(_CRAYC) |
|
48 |
# define COMPILER_ID "Cray" |
|
49 |
|
|
50 |
#elif defined(__TI_COMPILER_VERSION__) |
|
51 |
# define COMPILER_ID "TI_DSP" |
|
52 |
|
|
53 |
#elif defined(__SCO_VERSION__) |
|
54 |
# define COMPILER_ID "SCO" |
|
55 |
|
|
56 |
#elif defined(__GNUC__) |
|
57 |
# define COMPILER_ID "GNU" |
|
58 |
|
|
59 |
#elif defined(_MSC_VER) |
|
60 |
# define COMPILER_ID "MSVC" |
|
61 |
|
|
62 |
#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) |
|
63 |
/* Analog Devices C++ compiler for Blackfin, TigerSHARC and |
|
64 |
SHARC (21000) DSPs */ |
|
65 |
# define COMPILER_ID "ADSP" |
|
66 |
|
|
67 |
#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) |
|
68 |
# define COMPILER_ID "MIPSpro" |
|
69 |
|
|
70 |
/* This compiler is either not known or is too old to define an |
|
71 |
identification macro. Try to identify the platform and guess that |
|
72 |
it is the native compiler. */ |
|
73 |
#elif defined(__sgi) |
|
74 |
# define COMPILER_ID "MIPSpro" |
|
75 |
|
|
76 |
#elif defined(__hpux) || defined(__hpua) |
|
77 |
# define COMPILER_ID "HP" |
|
78 |
|
|
79 |
#else /* unknown compiler */ |
|
80 |
# define COMPILER_ID "" |
|
81 |
|
|
82 |
#endif |
|
83 |
|
|
84 |
/* Construct the string literal in pieces to prevent the source from |
|
85 |
getting matched. Store it in a pointer rather than an array |
|
86 |
because some compilers will just produce instructions to fill the |
|
87 |
array rather than assigning a pointer to a static array. */ |
|
88 |
char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; |
|
89 |
|
|
90 |
/* Identify known platforms by name. */ |
|
91 |
#if defined(__linux) || defined(__linux__) || defined(linux) |
|
92 |
# define PLATFORM_ID "Linux" |
|
93 |
|
|
94 |
#elif defined(__CYGWIN__) |
|
95 |
# define PLATFORM_ID "Cygwin" |
|
96 |
|
|
97 |
#elif defined(__MINGW32__) |
|
98 |
# define PLATFORM_ID "MinGW" |
|
99 |
|
|
100 |
#elif defined(__APPLE__) |
|
101 |
# define PLATFORM_ID "Darwin" |
|
102 |
|
|
103 |
#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) |
|
104 |
# define PLATFORM_ID "Windows" |
|
105 |
|
|
106 |
#elif defined(__FreeBSD__) || defined(__FreeBSD) |
|
107 |
# define PLATFORM_ID "FreeBSD" |
|
108 |
|
|
109 |
#elif defined(__NetBSD__) || defined(__NetBSD) |
|
110 |
# define PLATFORM_ID "NetBSD" |
|
111 |
|
|
112 |
#elif defined(__OpenBSD__) || defined(__OPENBSD) |
|
113 |
# define PLATFORM_ID "OpenBSD" |
|
114 |
|
|
115 |
#elif defined(__sun) || defined(sun) |
|
116 |
# define PLATFORM_ID "SunOS" |
|
117 |
|
|
118 |
#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) |
|
119 |
# define PLATFORM_ID "AIX" |
|
120 |
|
|
121 |
#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) |
|
122 |
# define PLATFORM_ID "IRIX" |
|
123 |
|
|
124 |
#elif defined(__hpux) || defined(__hpux__) |
|
125 |
# define PLATFORM_ID "HP-UX" |
|
126 |
|
|
127 |
#elif defined(__HAIKU) || defined(__HAIKU__) || defined(_HAIKU) |
|
128 |
# define PLATFORM_ID "Haiku" |
|
129 |
/* Haiku also defines __BEOS__ so we must |
|
130 |
put it prior to the check for __BEOS__ |
|
131 |
*/ |
|
132 |
|
|
133 |
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) |
|
134 |
# define PLATFORM_ID "BeOS" |
|
135 |
|
|
136 |
#elif defined(__QNX__) || defined(__QNXNTO__) |
|
137 |
# define PLATFORM_ID "QNX" |
|
138 |
|
|
139 |
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) |
|
140 |
# define PLATFORM_ID "Tru64" |
|
141 |
|
|
142 |
#elif defined(__riscos) || defined(__riscos__) |
|
143 |
# define PLATFORM_ID "RISCos" |
|
144 |
|
|
145 |
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) |
|
146 |
# define PLATFORM_ID "SINIX" |
|
147 |
|
|
148 |
#elif defined(__UNIX_SV__) |
|
149 |
# define PLATFORM_ID "UNIX_SV" |
|
150 |
|
|
151 |
#elif defined(__bsdos__) |
|
152 |
# define PLATFORM_ID "BSDOS" |
|
153 |
|
|
154 |
#elif defined(_MPRAS) || defined(MPRAS) |
|
155 |
# define PLATFORM_ID "MP-RAS" |
|
156 |
|
|
157 |
#elif defined(__osf) || defined(__osf__) |
|
158 |
# define PLATFORM_ID "OSF1" |
|
159 |
|
|
160 |
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) |
|
161 |
# define PLATFORM_ID "SCO_SV" |
|
162 |
|
|
163 |
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) |
|
164 |
# define PLATFORM_ID "ULTRIX" |
|
165 |
|
|
166 |
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) |
|
167 |
# define PLATFORM_ID "Xenix" |
|
168 |
|
|
169 |
#else /* unknown platform */ |
|
170 |
# define PLATFORM_ID "" |
|
171 |
|
|
172 |
#endif |
|
173 |
|
|
174 |
/* For windows compilers MSVC and Intel we can determine |
|
175 |
the architecture of the compiler being used. This is because |
|
176 |
the compilers do not have flags that can change the architecture, |
|
177 |
but rather depend on which compiler is being used |
|
178 |
*/ |
|
179 |
#if defined(_WIN32) && defined(_MSC_VER) |
|
180 |
# if defined(_M_IA64) |
|
181 |
# define ARCHITECTURE_ID "IA64" |
|
182 |
|
|
183 |
# elif defined(_M_X64) || defined(_M_AMD64) |
|
184 |
# define ARCHITECTURE_ID "x64" |
|
185 |
|
|
186 |
# elif defined(_M_IX86) |
|
187 |
# define ARCHITECTURE_ID "X86" |
|
188 |
|
|
189 |
# else /* unknown architecture */ |
|
190 |
# define ARCHITECTURE_ID "" |
|
191 |
# endif |
|
192 |
|
|
193 |
#else |
|
194 |
# define ARCHITECTURE_ID "" |
|
195 |
#endif |
|
196 |
|
|
197 |
/* Construct the string literal in pieces to prevent the source from |
|
198 |
getting matched. Store it in a pointer rather than an array |
|
199 |
because some compilers will just produce instructions to fill the |
|
200 |
array rather than assigning a pointer to a static array. */ |
|
201 |
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; |
|
202 |
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; |
|
203 |
|
|
204 |
|
|
205 |
|
|
206 |
/*--------------------------------------------------------------------------*/ |
|
207 |
|
|
208 |
int main(int argc, char* argv[]) |
|
209 |
{ |
|
210 |
int require = 0; |
|
211 |
require += info_compiler[argc]; |
|
212 |
require += info_platform[argc]; |
|
213 |
(void)argv; |
|
214 |
return require; |
|
215 |
} |
scout/analog/build/CMakeFiles/cmake.check_cache | ||
---|---|---|
1 |
# This file is generated by cmake for dependency checking of the CMakeCache.txt file |
scout/libscout/src/libmotors.cpp | ||
---|---|---|
34 | 34 |
* @author Colony Project, CMU Robotics Club |
35 | 35 |
**/ |
36 | 36 |
|
37 |
/* Author: Ben Wasserman |
|
38 |
*/ |
|
39 |
|
|
40 | 37 |
#include "libmotors.h" |
41 | 38 |
|
42 | 39 |
/* ROS node created in libscout.cpp */ |
... | ... | |
52 | 49 |
* Initialize the libscout node as a publisher of set_motors and a client of |
53 | 50 |
* query_motors. |
54 | 51 |
*/ |
55 |
void libmotors_init(){ |
|
52 |
void libmotors_init() |
|
53 |
{ |
|
56 | 54 |
set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10); |
57 | 55 |
query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors"); |
58 | 56 |
} |
... | ... | |
65 | 63 |
* \param which A bitmask of which motors should be set |
66 | 64 |
* \return Function status |
67 | 65 |
*/ |
68 |
int motors_set(int speed, int which, char units=MOTOR_PERCENT){ |
|
66 |
int motors_set(int speed, int which, char units=MOTOR_PERCENT) |
|
67 |
{ |
|
69 | 68 |
/** \todo Set fields of the message based on params */ |
70 | 69 |
|
71 |
if(!ros::ok()){ |
|
70 |
motors::set_motors msg; |
|
71 |
|
|
72 |
if(!ros::ok()) |
|
73 |
{ |
|
72 | 74 |
return LIB_ERROR; |
73 | 75 |
} |
74 | 76 |
|
75 | 77 |
/* Set the speed for each motor according to the which bitmask*/ |
76 |
motors::set_motors msg; |
|
77 |
if(which & MOTOR_FL_REV){ |
|
78 |
|
|
79 |
if(which & MOTOR_FL_REV) |
|
80 |
{ |
|
78 | 81 |
msg.fl_speed = -1 * speed; |
79 | 82 |
} |
80 |
if(which & MOTOR_FR_REV){ |
|
83 |
if(which & MOTOR_FR_REV) |
|
84 |
{ |
|
81 | 85 |
msg.fr_speed = -1 * speed; |
82 | 86 |
} |
83 |
if(which & MOTOR_BL_REV){ |
|
87 |
if(which & MOTOR_BL_REV) |
|
88 |
{ |
|
84 | 89 |
msg.bl_speed = -1 * speed; |
85 | 90 |
} |
86 |
if(which & MOTOR_BR_REV){ |
|
91 |
if(which & MOTOR_BR_REV) |
|
92 |
{ |
|
87 | 93 |
msg.br_speed = -1 * speed; |
88 |
}if(which & MOTOR_FL){ |
|
94 |
}if(which & MOTOR_FL) |
|
95 |
{ |
|
89 | 96 |
msg.fl_speed = speed; |
90 | 97 |
} |
91 |
if(which & MOTOR_FR){ |
|
98 |
if(which & MOTOR_FR) |
|
99 |
{ |
|
92 | 100 |
msg.fr_speed = speed; |
93 | 101 |
} |
94 |
if(which & MOTOR_BL){ |
|
102 |
if(which & MOTOR_BL) |
|
103 |
{ |
|
95 | 104 |
msg.bl_speed = speed; |
96 | 105 |
} |
97 |
if(which & MOTOR_BR){ |
|
106 |
if(which & MOTOR_BR) |
|
107 |
{ |
|
98 | 108 |
msg.br_speed = speed; |
99 | 109 |
} |
100 | 110 |
|
... | ... | |
119 | 129 |
* \return The speed of the selected motor, or LIB_ERR if no motor selected |
120 | 130 |
*/ |
121 | 131 |
|
122 |
int motors_query(int which){ |
|
132 |
int motors_query(int which) |
|
133 |
{ |
|
123 | 134 |
motors::query_motors srv; |
124 |
if(query_motors_client.call(srv)){ |
|
125 |
switch(which){ |
|
135 |
if(query_motors_client.call(srv)) |
|
136 |
{ |
|
137 |
switch(which) |
|
138 |
{ |
|
126 | 139 |
case MOTOR_FL: |
127 | 140 |
return srv.response.fl_speed; |
128 | 141 |
case MOTOR_FR: |
... | ... | |
135 | 148 |
ROS_WARN("Bad WHICH in motors_query."); |
136 | 149 |
return LIB_ERROR; |
137 | 150 |
} |
138 |
}else{ |
|
151 |
} |
|
152 |
else |
|
153 |
{ |
|
139 | 154 |
ROS_ERROR("Failed to call service query_motors"); |
140 | 155 |
return LIB_ERROR; |
141 | 156 |
} |
scout/libscout/src/libmotors.h | ||
---|---|---|
34 | 34 |
* @author Colony Project, CMU Robotics Club |
35 | 35 |
**/ |
36 | 36 |
|
37 |
/* Author: Ben Wasserman |
|
38 |
*/ |
|
39 |
|
|
40 | 37 |
#include "ros/ros.h" |
41 | 38 |
#include "constants.h" |
42 | 39 |
#include "motors/query_motors.h" |
Also available in: Unified diff