scoutos / scout / libscout / src / PaintBoardControl.h @ 6ad8ef06
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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 PaintBoardControl.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 Priyanka Deo
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**/
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#ifndef _PAINT_BOARD_CONTROL_H_
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#define _PAINT_BOARD_CONTROL_H_
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#include <ros/ros.h> |
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#include "constants.h" |
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#include <messages/set_paintboard.h> |
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#include <messages/query_paintboard.h> |
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#define STOP_PAINT 0 |
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#define DISPENSE_PAINT 1 |
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class PaintBoardControl |
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{ |
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public:
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/** Set up the paintboard node and prepare to communicate over ROS */
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PaintBoardControl(const ros::NodeHandle& libscout_node,
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std::string scoutname); |
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~PaintBoardControl(); |
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/** Turns the paintboard on or off. */
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void set(int paintboard_setting); |
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/** Checks whether the paintboard is currently dispensing paint */
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int query();
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private:
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/** ROS publisher and client declaration */
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ros::Publisher set_paintboard_pub; |
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ros::ServiceClient query_paintboard_client; |
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ros::NodeHandle node; |
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}; |
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#endif
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