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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file encoders.h

 * @brief Contains encoder declarations and functions

 * 

 * Contains functions and definitions for the use of

 * encoders.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _ENCODERS_H_

#define _ENCODERS_H_

#include "encoders/query_encoders.h"

#include "encoders/encoders_state.h"

#define ENCODERS_TICKS 't'

#define ENCODERS_MM 'm'

#define ENCODERS_CM 'c'

#define ENCODERS_DEG 'd'

#define NUM_TICKS 100

#define WHEEL_RADIUS_MM 20

#define PI 3.14159265

/** @brief Initialize the encoders module and driver **/

int main(int argc, char **argv);

/** @brief Responds to topic to get encoder state **/

void encoder_set_mode(const encoders::encoders_state::ConstPtr& msg);

/** @brief Publishes encoder state **/

void encoders_state_publish();

/** @brief Responds to service to query encoder data **/

bool encoders_query(encoders::query_encoders::Request &req,

    encoders::query_encoders::Response &res);

/** @brief Converts encoder values to selected units **/

int encoders_ticks_to_units(int ticks, char units);

#endif