Revision daf6a575

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scout_avr/src/main.cpp
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#include "range.h"
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#include "stepper.h"
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#include "orb.h"
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#include <std_msgs/Int16.h> // TODO remove
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#include <bom/bom.h>
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#include <sonar/sonar_distance.h>
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#include <sonar/sonar_toggle.h>
......
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  nh.advertise(bom_pub);
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  /* Headlights (aka Orbs) */
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  orb_init();
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  //orb_init();
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  ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",
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      orb_callback);
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  nh.subscribe(orb_sub);
......
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      range_measure(ranges);
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      range_msg.header.stamp = nh.now();
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      range_msg.header.seq++;
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      range_msg.pos = 0; // TODO fill this
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      range_msg.pos = step_get_pos();
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      range_msg.distance0 = ranges[0];
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      range_msg.distance1 = ranges[1];
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      range_pub.publish(&range_msg);
scout_avr/src/stepper.cpp
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  if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1);
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  else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1);
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}
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int step_get_pos()
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{
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  return step.pos;
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}
scout_avr/src/stepper.h
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void step_sweep();
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void step_enable();
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void step_disable();
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int step_get_pos();
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#endif

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