scoutos / scout / libscout / src / HeadlightControl.h @ 560d2317
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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 HeadlightControl.h
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* @brief Contains headlights declarations and functions
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*
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* Contains functions and definitions for the use of
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* headlights
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*
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* @author Colony Project, CMU Robotics Club
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* @author Ben Wasserman
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* @author Alex Zirbel
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*/
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#ifndef _HEADLIGHT_CONTROL_H_
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#define _HEADLIGHT_CONTROL_H_
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#include <ros/ros.h> |
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#include <headlights/set_headlights.h> |
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#include "constants.h" |
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/* Defines */
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#define WHITE 0xFFFFFF |
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#define OFF 0x000000 |
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#define RED 0xFF0000 |
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#define GREEN 0x00FF00 |
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#define BLUE 0x0000FF |
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#define YELLOW 0xFFFF00 |
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#define CYAN 0x00FFFF |
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#define PINK 0xFF00FF |
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#define HL_RIGHT 0x1 |
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#define HL_LEFT 0x2 |
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#define HL_BOTH 0x3 |
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#define NO_SET -1 |
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#define REDSHIFT 16 |
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#define GREENSHIFT 8 |
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#define BLUESHIFT 0 |
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class HeadlightControl |
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{ |
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public:
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HeadlightControl(const ros::NodeHandle& libscout_node,
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std::string scoutname); |
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void set(int color, int which); |
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void set_rgb(int red, int green, int blue, int which); |
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private:
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ros::NodeHandle node; |
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ros::Publisher set_headlights_pub; |
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}; |
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#endif
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