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Revision 1019d31f

ID1019d31f021c1c964c308e824b3386e77ce636fb
Parent 7b5ea072
Child 7db6cf9f, ae23d242

Added by Thomas Mullins almost 11 years ago

Adding Maung's paintboard i2c code

View differences:

scout/painter/src/painter.cpp
1 1 
/**
2 
 * Copyright (c) 2011 Colony Project
2 
 * Copyright (c) 2013 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
......
39 39 
#include <messages/set_paintboard.h>
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#include <messages/query_paintboard.h>
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#include <messages/query_metal_detector.h>
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#include "paint-i2c.h"
42 43 

  		




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using namespace std;


  		




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int painter_value;


  		




  
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/**


  		




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 * @brief ROS callback to turn the paint output on or off


  		




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 */


  		




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void paint_set(const ::messages::set_paintboard::ConstPtr& msg)


  		




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{


  		




  
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  painter_value = msg->setting;


  		




  
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  set_servo(0, painter_value);


  		




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}


  		




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/**


  		




  ......




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bool paint_query(::messages::query_paintboard::Request &req,


  		




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                 ::messages::query_paintboard::Response &res)


  		




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{


  		




  
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  res.setting = painter_value;


  		




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  return true;


  		




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}


  		




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  ......




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bool metal_query(::messages::query_metal_detector::Request &req,


  		




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                 ::messages::query_metal_detector::Response &res)


  		




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{


  		




  
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  res.metal = get_input(0);


  		




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  return true;


  		




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}


  		




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  ......




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    ros::init(argc, argv, "painter");


  		




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    ros::NodeHandle node;


  		




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    i2c_start();


  		




  
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    set_motor(0, 0);


  		




  
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    set_servo(0, 0);


  		




  
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    ros::Subscriber painter_sub = node.subscribe("/set_paintboard", QUEUE_SIZE,


  		




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        paint_set);


  		




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    ros::ServiceServer painter_srv = node.advertiseService("/query_paintboard",


  		




  ......




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    ROS_INFO("Painter node ready.");


  		




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    ros::spin();


  		




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    i2c_stop();


  		




  
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    return 0;


  		




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}


  		












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