scoutos / scout / libscout / src / libmotors.cpp @ 4589a2a9
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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 libmotors.cpp
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* @brief Contains motor declarations and functions
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*
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* Contains functions and definitions for the use of
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* motors
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*
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* @author Colony Project, CMU Robotics Club
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**/
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#include "libmotors.h" |
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/* ROS node created in libscout.cpp */
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extern ros::NodeHandle libscout_node;
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/** ROS publisher and client declaration */
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ros::Publisher set_motors_publisher; |
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ros::ServiceClient query_motors_client; |
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/*!
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* \brief Initialize the motors module of libscout.
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*
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* Initialize the libscout node as a publisher of set_motors and a client of
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* query_motors.
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*/
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void libmotors_init()
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{ |
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set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10); |
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query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors");
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} |
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/*!
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* \brief Set motor speeds
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* Sets the speeds of the motors as a percentage of top speed. Can selectively
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* select which motors to set, and which to remain at previous speed.
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* \param speed The speed the motors should be set to
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* \param which A bitmask of which motors should be set
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* \return Function status
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*/
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int motors_set(int speed, int which, char units=MOTOR_PERCENT) |
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{ |
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/** \todo Set fields of the message based on params */
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motors::set_motors msg; |
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if(!ros::ok())
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{ |
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return LIB_ERROR;
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} |
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/* Set the speed for each motor according to the which bitmask*/
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if(which & MOTOR_FL_REV)
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{ |
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msg.fl_speed = -1 * speed;
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} |
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if(which & MOTOR_FR_REV)
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{ |
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msg.fr_speed = -1 * speed;
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} |
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if(which & MOTOR_BL_REV)
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{ |
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msg.bl_speed = -1 * speed;
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} |
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if(which & MOTOR_BR_REV)
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{ |
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msg.br_speed = -1 * speed;
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}if(which & MOTOR_FL)
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{ |
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msg.fl_speed = speed; |
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} |
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if(which & MOTOR_FR)
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{ |
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msg.fr_speed = speed; |
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} |
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if(which & MOTOR_BL)
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{ |
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msg.bl_speed = speed; |
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} |
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if(which & MOTOR_BR)
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{ |
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msg.br_speed = speed; |
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} |
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/* Specify which units the speeds are given in */
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msg.units = units; |
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/* Publishes message to set_motors topic */
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set_motors_publisher.publish(msg); |
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ros::spinOnce(); |
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return LIB_OK;
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} |
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/*!
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* \brief Query the current speeds of the motors
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*
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* Sends a request to the query_motors service which will reply with the
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* current speed of each motor.
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*
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* \param which A bitmask that will specify which motor speed should be
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* returned
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* \return The speed of the selected motor, or LIB_ERR if no motor selected
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*/
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int motors_query(int which) |
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{ |
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motors::query_motors srv; |
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if(query_motors_client.call(srv))
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{ |
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switch(which)
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{ |
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case MOTOR_FL:
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return srv.response.fl_speed;
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case MOTOR_FR:
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return srv.response.fr_speed;
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case MOTOR_BL:
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return srv.response.bl_speed;
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case MOTOR_BR:
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return srv.response.br_speed;
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default:
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ROS_WARN("Bad WHICH in motors_query.");
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return LIB_ERROR;
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} |
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} |
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else
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{ |
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ROS_ERROR("Failed to call service query_motors");
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return LIB_ERROR;
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} |
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return 0; |
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} |