Revision 93cebb99
added BomControl class and to the scout sensor
scout/scoutsim/src/scout.h | ||
---|---|---|
55 | 55 |
#include <messages/set_motors.h> |
56 | 56 |
#include <messages/query_encoders.h> |
57 | 57 |
#include <messages/query_linesensor.h> |
58 |
#include <messages/query_boms.h> |
|
58 | 59 |
#include <messages/sonar_distance.h> |
59 | 60 |
#include <messages/sonar_toggle.h> |
60 | 61 |
#include <messages/sonar_set_scan.h> |
... | ... | |
73 | 74 |
#define PI 3.14159265 |
74 | 75 |
|
75 | 76 |
#define NUM_LINESENSORS 8 |
77 |
#define NUM_BOMS 10 |
|
76 | 78 |
|
77 | 79 |
// Distance, pixels, from center of robot to the linesensors. |
78 | 80 |
#define LNSNSR_D 20 |
... | ... | |
121 | 123 |
world_state state); |
122 | 124 |
void paint(wxDC& dc); |
123 | 125 |
void set_sonar_visual(bool on); |
124 |
void update_BOM(int bom_index,bool bom_value); |
|
126 |
void update_BOM(int bom_index, unsigned int bom_value, |
|
127 |
unsigned int sender); |
|
125 | 128 |
|
126 | 129 |
private: |
127 | 130 |
float absolute_to_mps(int absolute_speed); |
... | ... | |
132 | 135 |
messages::query_encoders::Response&); |
133 | 136 |
bool query_linesensor_callback(messages::query_linesensor::Request&, |
134 | 137 |
messages::query_linesensor::Response&); |
138 |
bool query_BOM_callback(messages::query_boms::Request&, |
|
139 |
messages::query_boms::Response&); |
|
135 | 140 |
bool handle_sonar_toggle(messages::sonar_toggle::Request &req, |
136 | 141 |
messages::sonar_toggle::Response &res); |
137 | 142 |
bool handle_sonar_set_scan(messages::sonar_set_scan::Request &req, |
... | ... | |
147 | 152 |
double robot_theta, wxMemoryDC& sonar_dc); |
148 | 153 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
149 | 154 |
double theta); |
155 |
|
|
150 | 156 |
int old_front_dx; |
151 | 157 |
int old_front_dy; |
152 | 158 |
int old_back_dx; |
... | ... | |
196 | 202 |
|
197 | 203 |
// A vector of the 8 linesensor readings |
198 | 204 |
std::vector<unsigned int> linesensor_readings; |
205 |
std::vector<unsigned int> BOM_readings; |
|
206 |
std::vector<unsigned int> BOM_senders; |
|
199 | 207 |
|
200 | 208 |
// Each scout has a unique id number, which is also displayed on its image. |
201 | 209 |
int scout_id; |
... | ... | |
211 | 219 |
ros::ServiceServer set_pen_srv; |
212 | 220 |
ros::ServiceServer query_encoders_srv; |
213 | 221 |
ros::ServiceServer query_linesensor_srv; |
222 |
ros::ServiceServer query_BOM_srv; |
|
214 | 223 |
ros::ServiceServer toggle_sonar_srv; |
215 | 224 |
ros::ServiceServer set_sonar_srv; |
216 | 225 |
|
Also available in: Unified diff