scoutos / scout / libscout / src / PaintBoardControl.h @ 4dcab71d
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1 | dbe4fa43 | Leon | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | 34a60a3b | Priya | */
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25 | dbe4fa43 | Leon | |
26 | /**
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27 | 34a60a3b | Priya | * @file PaintBoardControl.h
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28 | * @brief Contains motor declarations and functions
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29 | dbe4fa43 | Leon | *
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30 | * Contains functions and definitions for the use of
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31 | 34a60a3b | Priya | * motors
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32 | dbe4fa43 | Leon | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priyanka Deo
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35 | **/
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36 | |||
37 | 34a60a3b | Priya | #ifndef _PAINT_BOARD_CONTROL_H_
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38 | #define _PAINT_BOARD_CONTROL_H_
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39 | dbe4fa43 | Leon | |
40 | 34a60a3b | Priya | #include <ros/ros.h> |
41 | 9c0008d0 | Leon | #include "constants.h" |
42 | 34a60a3b | Priya | #include <messages/set_paintboard.h> |
43 | #include <messages/query_paintboard.h> |
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44 | dbe4fa43 | Leon | |
45 | 34a60a3b | Priya | #define STOP_PAINT 0 |
46 | #define DISPENSE_PAINT 1 |
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47 | dbe4fa43 | Leon | |
48 | 34a60a3b | Priya | class PaintBoardControl |
49 | dbe4fa43 | Leon | { |
50 | public:
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51 | 34a60a3b | Priya | /** Set up the paintboard node and prepare to communicate over ROS */
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52 | PaintBoardControl(const ros::NodeHandle& libscout_node,
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53 | std::string scoutname); |
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54 | dbe4fa43 | Leon | |
55 | 34a60a3b | Priya | ~PaintBoardControl(); |
56 | dbe4fa43 | Leon | |
57 | 34a60a3b | Priya | /** Turns the paintboard on or off. */
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58 | void set(int paintboard_setting); |
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59 | dbe4fa43 | Leon | |
60 | 34a60a3b | Priya | /** Checks whether the paintboard is currently dispensing paint */
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61 | int query();
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62 | |||
63 | dbe4fa43 | Leon | private:
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64 | 34a60a3b | Priya | /** ROS publisher and client declaration */
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65 | ros::Publisher set_paintboard_pub; |
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66 | ros::ServiceClient query_paintboard_client; |
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67 | dbe4fa43 | Leon | |
68 | 34a60a3b | Priya | ros::NodeHandle node; |
69 | 9c0008d0 | Leon | }; |
70 | dbe4fa43 | Leon | |
71 | #endif
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