Revision 15b7e607

View differences:

scout/libscout/src/SonarControl.cpp
72 72
 */
73 73
void SonarControl::set_range(int start_pos, int end_pos)
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{
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    //TODO Enable some checks of start and end position
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    /** Turn sonar on */
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    sonar::sonar_toggle on_msg;
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    on_msg.set_on = true;
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    sonar_toggle_pub.publish(on_msg);
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    /** Set scan range */
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    sonar::sonar_set_scan msg;
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    //TODO Enable some checks of start and end position
78 84
    msg.stop_l = start_pos;
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    msg.stop_r = end_pos;
80 86

  
......
83 89
}
84 90

  
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/**
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 * @brief Turn off sonar readings
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 *
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 * Stops sonar from panning and taking readings.
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 *
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 * @return NONE
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 */
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float SonarControl::set_off()
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{
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    /** Turn sonar off */
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    sonar::sonar_toggle on_msg;
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    on_msg.set_on = false;
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    sonar_toggle_pub.publish(on_msg);
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}
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/**
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 * @brief Query the current front sonar readings
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 *
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 * Sends a request to the query_sonar service which will reply with the
scout/libscout/src/SonarControl.h
52 52
        void set(int position);
53 53

  
54 54
        /** Sets sonar to scan a range in 0-180 specified by input */
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        void set_range(int start_pos, int end_pos);	
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        void set_range(int start_pos, int end_pos);
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	/** Stops sonar from panning and taking readings */
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	void set_off();	
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57 60
        /** Returns the distance readings of sonars */
58 61
        float query_front(void);

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