Colony » Colony Scout » Colony Scout OS

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

rosbuild_genmsg()

#uncomment if you have defined services

rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library)

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_executable(motors_node src/motors.cpp)

include $(shell rospack find mk)/cmake.mk

/**

\mainpage

\htmlinclude manifest.html

\b encoders is the ros node that will provide all encoder functionality and control.

<!-- 

Encoders will contain the functions necessary for reading encoder data.

-->

\section codeapi Code API

<!--

Provide links to specific auto-generated API documentation within your

package that is of particular interest to a reader. Doxygen will

document pretty much every part of your code, so do your best here to

point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you

should use the doxygen 'group' tag to keep these APIs together. For

example, the roscpp documentation has 'libros' group.

-->

*/

<package>

  <description brief="encoders">

     encoders

     Module to provide all encoder control functionality.

  </description>

  <author>Lalitha</author>

  <license>BSD</license>

  <review status="unreviewed" notes=""/>

  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>

  <depend package="roscpp"/>

  <depend package="std_msgs"/>

</package>

Header header

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

int8 units

Header header

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

int8 units

/**

 * 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.cpp

 * @brief Encoders

 *

 * Implementation of functions for encoder use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Benjamin Wasserman

 **/

#include "ros/ros.h"

#include "encoders.h"

//#include "libscout/src/constants.h"

#include <cstdlib>

/**

 * @defgroup encoders Encoders

 * @brief Functions for using the encoders

 *

 **/

/* Encoder state variables */

/** \todo Fix types: static */

int encoder_fl; /**< The current state of the front left encoder. */

int encoder_fr; /**< The current state of the front right encoder. */

int encoder_bl; /**< The current state of the back left encoder. */

int encoder_br; /**< The current state of the back right encoder. */

/*!

 * \brief Encoders driver. This is a ROS node that controls encoders.

 *

 * This is the main function for the encoders node. It is run when the node

 * starts and initializes the encoders. It then publishes to the

 * encoder_state topic and advertises the query_encoders service.

 * 

 * \param argc The number of command line arguments (should be 1)

 * \param argv The array of command line arguments

 **/

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

  /* Initialize in ROS the encoders driver node */

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

  /* Advertise that this serves the query_encoders service */

  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("query_encoders", encoders_query);

  /* Subscribe to the encoder_state topic */

  ros::Subscriber sub0 = n.subscribe("encoder_state", 4, encoder_state);

  /* Initialize hardware for motors */

  // Hardware init functions here

  ROS_INFO("Ready to set encoders.");

  ros::spin();

  return 0;

}

/*!

 * \brief Gets encoder state

 *

 * Sets the encoder state based on subscription to the encoder_state topic.

 *

 * \param msg The message from the encoder_state topic, containing encoder

 * configuration settings.

 */

void encoder_state(const encoders::encoder_state::ConstPtr& msg){ 

  encoder_fl = msg->fl_encoder;

  encoder_fr = msg->fr_encoder;

  encoder_bl = msg->bl_encoder;

  encoder_br = msg->br_encoder;

}

/*!

 * \brief Outputs current encoder data

 *

 * Serves the service query_encoders by responding to service requests with the

 * encoder values.

 * \param req The request. Should be empty.

 * \param res The response. The fields will be filled with values.

 */

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

    encoders::query_encoders::Response &res){

  res.fl_encoder = encoder_fl;

  res.fr_encoder = encoder_fr;

  res.bl_encoder = encoder_bl;

  res.br_encoder = encoder_br;

  ROS_DEBUG("Encoder values queried");

  return true;

}

/**

 *Copyright (c) 2007 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

 **/

/* Authors: Ben Wasserman, Lalitha Ganesan

*/

#ifndef _ENCODERS_H_

#define _ENCODERS_H_

#include "encoders/query_encoders.h"

#include "encoders/encoder_state.h"

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

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

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

void encoder_state(const encoders::encoder_state::ConstPtr& msg);

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

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

    encoders::query_encoders::Response &res);

#endif

---

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

rosbuild_genmsg()

#uncomment if you have defined services

rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library)

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_executable(motors_node src/motors.cpp)

include $(shell rospack find mk)/cmake.mk

/**

\mainpage

\htmlinclude manifest.html

\b usbserial is the ros node that will provide all IO over USB/Serial functionality and control.

<!-- 

USBserial will contain the functions neceessary for providing USB/Serial IO capability.

-->

\section codeapi Code API

<!--

Provide links to specific auto-generated API documentation within your

package that is of particular interest to a reader. Doxygen will

document pretty much every part of your code, so do your best here to

point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you

should use the doxygen 'group' tag to keep these APIs together. For

example, the roscpp documentation has 'libros' group.

-->

*/

<package>

  <description brief="usbserial">

     usbserial

     Module for USB/Serial that provide all USB/Serial control functionality.

  </description>

  <author>Lalitha</author>

  <license>BSD</license>

  <review status="unreviewed" notes=""/>

  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>

  <depend package="roscpp"/>

  <depend package="std_msgs"/>

</package>

Header header

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

int8 units

Header header

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

int8 units

/**

 * 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 usbserial.cpp

 * @brief USBSerial

 *

 * Implementation of functions for USB/Serial use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Lalitha Ganesan

 **/

#include "ros/ros.h"

#include "usbserial.h"

#include <cstdlib>

/**

 * @defgroup usbserial USBSerial

 * @brief Functions for using the USB/Serial Ports

 *

 **/

/* USB/Serial state variables */

int data; /**< The USB serial data received. */

int num_data_bits; /**< The number of bits that store data. */

int num_stop_bits; /**< The number of bits that indicate the end of data. */

int parity_type; /**< The parity type of the data being sent over. */

int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */

/*!

 * \brief USBSerial driver. This is a ROS node that controls USB/Serial 

  * port data.

 *

 * This is the main function for the usbserial node. It is run when the node

 * starts and initializes USB/Serial ports. It then subscribes to the

 * send_serial_data topic, and publishes to the receive_serial_data message.

 * 

 * \param argc The number of command line arguments (should be 1)

 * \param argv The array of command line arguments

 **/

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

  /* Initialize in ROS the usbserial driver node */

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

  /* Subscribe to the send_serial_data topic */

  ros::Subscriber sub0 = n.subscribe("send_serial_data", send_serial_data);

  /* Publish to the receive_serial_data topic */

  ros::Publisher pub0 = n.publish("receive_serial_data", receive_serial_data);

  /* Initialize hardware for USB/Serial ports */

  // Hardware init functions here

  ROS_INFO("Ready to set USB/Serial.");

  ros::spin();

  return 0;

}

/*!

 * \brief Sends USB/Serial data.

 *

 * Sets the state vars based on subscription to the send_serial_data topic.

 *

 * \param msg The message from the send_serial_data topic, containing info about 

 * how data are being sent.

 */

void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg){

  data = msg->data;

  num_data_bits = msg->num_data_bits;

  num_stop_bits = msg->num_stop_bits;

  parity_type = msg->parity_type;

  baud_rate = msg->baud_rate;

}

/*!

 * \brief Handles received USB/Serial data.

 *

 * Serves the service receive_serial_data by responding to service requests with the

 * usb/serial data.

 * \param req The request. Should be empty.

 * \param res The response. The fields will be filled with values.

 */

bool receive_serial_data(usbserial::receive_serial_data::Request &req,

    usbserial::receive_serial_data::Response &res){

  res.data = data;

  res.num_data_bits = num_data_bits;

  res.num_stop_bits = num_stop_bits;

  res.parity_type = parity_type;

  res.baud_rate = baud_rate;

  return true;

}

/**

 *Copyright (c) 2007 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 usbserial.h

 * @brief Contains USB/Serial declarations and functions

 * 

 * Contains functions and definitions for the use of

 * USB/Serial.

 *

 * @author Lalitha Ganesan

 **/

#ifndef _USBSERIAL_H_

#define _USBSERIAL_H_

#include "usbserial/send_serial_data.h"

#include "usbserial/receive_serial_data.h"

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

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

/** @brief Responds to topic to send serial data **/

void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg);

/** @brief Responds to service to receive serial data **/

bool receive_serial_data(usbserial::receive_serial_data::Request &req,

    usbserial::receive_serial_data::Response &res);

#endif