Colony » Colony Scout

Revision a8480867

Made a lot of changes to the general structure.

Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:

• All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
• Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
• Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.

A few formatting changes:

• Comments should end with / always, not */
• Use @ instead of \
• No double newlines.

The motors node is revamped and pretty much correct at this point.

    msg.bl_speed = 125;

    msg.fr_speed = 125;

    msg.br_speed = 125;

    msg.which = 0;

    msg.units = MOTOR_ABSOLUTE;

    /* publish */

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