Revision c9f87aaf
Added code inside motors.cpp to set and read individual speeds in different units. Also added appropriate headers to motors.h, and units field to query_motors.srv and set_motors.msg
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/** |
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* Copyright (c) 2007 Colony Project
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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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#include "motors/query_motors.h" |
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#include "motors/set_motors.h" |
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#define MAXSPEED 512 |
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#define MOTOR_ALL 0xF |
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#define MOTOR_ALL_REV 0xF0 |
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#define MOTOR_NONE 0x0 |
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#define MOTOR_FL 0x8 |
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#define MOTOR_FR 0x4 |
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#define MOTOR_BL 0x2 |
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#define MOTOR_BR 0x1 |
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#define MOTOR_FL_REV 0x80 |
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#define MOTOR_FR_REV 0x40 |
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#define MOTOR_BL_REV 0x20 |
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#define MOTOR_BR_REV 0x10 |
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#define MOTOR_FRONT MOTOR_FL | MOTOR_FR |
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#define MOTOR_BACK MOTOR_BR | MOTOR_BR |
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#define MOTOR_LEFT MOTOR_FL | MOTOR_BL |
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#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR |
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#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV |
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#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV |
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#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT |
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#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV |
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#define MOTOR_PERCENT 'p' |
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#define MOTOR_MMS 'm' |
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#define MOTOR_CMS 'c' |
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#define MOTOR_ABSOLUTE 'a' |
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/** @brief Initialize the motors module and driver. **/ |
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int main(int argc, char **argv); |
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bool motors_query(motors::query_motors::Request &req, |
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motors::query_motors::Response &res); |
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/** @brief Converts speeds from speeds in units to absolute speeds. **/ |
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int motors_rel_to_abs(int rel_speed, int units); |
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/** @brief Converts speeds from absolute speeds to speeds in units. **/ |
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int motors_abs_to_rel(int rel_speed, int units); |
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#endif |
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