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scoutos / scout / motors / src / motors.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 motors.h
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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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 * @author Benjamin Wasserman
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 * @author Alex Zirbel
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 * @author Tom Mullins
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 **/
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#ifndef _MOTORS_H_
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#define _MOTORS_H_
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#include <fstream>
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#include <motors/set_motors.h>
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#include <motors/query_motors.h>
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#define QUEUE_SIZE 10
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/** @brief Initialize the motors module and driver. **/
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int main(int argc, char **argv);
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/** @brief Responds to topic to set motor speeds and configs. **/
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void motors_set(const motors::set_motors::ConstPtr& msg);
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/** @brief Responds to service to query motor speeds. **/
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bool motors_query(motors::query_motors::Request &req,
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                  motors::query_motors::Response &res);
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class Motor
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{
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  public:
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    Motor(const char* pwmfile, const char* in1file, const char* in2file);
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    int get_speed();
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    void set_speed(int speed);
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  private:
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    int speed; /**< The current speed of the motor */
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    std::fstream fpwm; /**< The device file controlling PWM */
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    std::fstream fin1; /**< The device file controlling IN1 */
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    std::fstream fin2; /**< The device file controlling IN2 */
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};
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#endif