Revision ce559b91
Fixed the encoders node.
Simplified the node to only advertise a single service - a query allows other nodes to find out, simply, the total distance traveled. The node also only handles plain encoder ticks, because distance and such computation should be done on the library end.
| scout/encoders/srv/query_encoders.srv | ||
|---|---|---|
| 1 |
int8 units |
|
| 2 | 1 |
--- |
| 3 |
int8 fl_speed |
|
| 4 |
int8 fr_speed |
|
| 5 |
int8 bl_speed |
|
| 6 |
int8 br_speed |
|
| 7 |
int8 fl_index |
|
| 8 |
int8 fr_index |
|
| 9 |
int8 bl_index |
|
| 10 |
int8 br_index |
|
| 2 |
# All units are simply in encoder ticks since encoders were turned on. |
|
| 11 | 3 |
int8 fl_distance |
| 12 | 4 |
int8 fr_distance |
| 13 | 5 |
int8 bl_distance |
Also available in: Unified diff