scoutos / scout / libscout / src / EncodersControl.cpp @ 6d0836d4
History | View | Annotate | Download (2.49 KB)
1 | a739cdbd | Alex Zirbel | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | */
|
||
25 | |||
26 | /**
|
||
27 | * @file EncodersControl.cpp
|
||
28 | * @brief Contains encoder function implementation
|
||
29 | *
|
||
30 | * @author Colony Project, CMU Robotics Club
|
||
31 | * @author Alex Zirbel
|
||
32 | */
|
||
33 | |||
34 | f34d6221 | Priya | #include "EncodersControl.h" |
35 | a739cdbd | Alex Zirbel | |
36 | using namespace std; |
||
37 | |||
38 | /**
|
||
39 | * @brief Initialize the encoders module of libscout.
|
||
40 | */
|
||
41 | EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node,
|
||
42 | string scoutname)
|
||
43 | : node(libscout_node) |
||
44 | { |
||
45 | dbbad8ed | Tom Mullins | query_client = node.serviceClient< ::messages::query_encoders>( |
46 | scoutname+"/query_encoders");
|
||
47 | reset_client = node.serviceClient< ::messages::reset_encoders>( |
||
48 | scoutname+"/reset_encoders");
|
||
49 | a739cdbd | Alex Zirbel | } |
50 | |||
51 | /**
|
||
52 | * @brief Returns the current tick count of the encoders.
|
||
53 | */
|
||
54 | encoder_readings EncodersControl::query() |
||
55 | { |
||
56 | // Set scan range
|
||
57 | 6ebee82c | Alex | ::messages::query_encoders srv; |
58 | a739cdbd | Alex Zirbel | |
59 | f34d6221 | Priya | encoder_readings cur_readings; |
60 | a739cdbd | Alex Zirbel | |
61 | if (!query_client.call(srv))
|
||
62 | { |
||
63 | ROS_ERROR("EncodersControl query failed.");
|
||
64 | } |
||
65 | |||
66 | cur_readings.fl_ticks = srv.response.fl_distance; |
||
67 | cur_readings.fr_ticks = srv.response.fr_distance; |
||
68 | cur_readings.bl_ticks = srv.response.bl_distance; |
||
69 | cur_readings.br_ticks = srv.response.br_distance; |
||
70 | |||
71 | return cur_readings;
|
||
72 | } |
||
73 | |||
74 | dbbad8ed | Tom Mullins | /**
|
75 | * @brief Resets the encoder tick count to 0.
|
||
76 | */
|
||
77 | void EncodersControl::reset()
|
||
78 | { |
||
79 | ::messages::reset_encoders srv; |
||
80 | if (!reset_client.call(srv))
|
||
81 | { |
||
82 | ROS_ERROR("EncodersControl reset failed.");
|
||
83 | } |
||
84 | } |