root / scout / motors / src / motors.h @ 2814387f
History | View | Annotate | Download (2.31 KB)
1 |
/**
|
---|---|
2 |
* Copyright (c) 2011 Colony Project
|
3 |
*
|
4 |
* Permission is hereby granted, free of charge, to any person
|
5 |
* obtaining a copy of this software and associated documentation
|
6 |
* files (the "Software"), to deal in the Software without
|
7 |
* restriction, including without limitation the rights to use,
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
9 |
* copies of the Software, and to permit persons to whom the
|
10 |
* Software is furnished to do so, subject to the following
|
11 |
* conditions:
|
12 |
*
|
13 |
* The above copyright notice and this permission notice shall be
|
14 |
* included in all copies or substantial portions of the Software.
|
15 |
*
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
23 |
* OTHER DEALINGS IN THE SOFTWARE.
|
24 |
**/
|
25 |
|
26 |
/**
|
27 |
* @file motors.h
|
28 |
* @brief Contains motor declarations and functions.
|
29 |
*
|
30 |
* Contains functions and definitions for the use of
|
31 |
* motors.
|
32 |
*
|
33 |
* @author Colony Project, CMU Robotics Club
|
34 |
* @author Benjamin Wasserman
|
35 |
**/
|
36 |
|
37 |
#ifndef _MOTORS_H_
|
38 |
#define _MOTORS_H_
|
39 |
|
40 |
#include "motors/query_motors.h" |
41 |
#include "motors/set_motors.h" |
42 |
|
43 |
#define MAXSPEED 255 |
44 |
#define MOTOR_PERCENT 'p' |
45 |
#define MOTOR_MMS 'm' |
46 |
#define MOTOR_CMS 'c' |
47 |
#define MOTOR_ABSOLUTE 'a' |
48 |
|
49 |
/* The number of messages in the queue. If messages arrive faster than they are
|
50 |
* handled, old ones are thrown out */
|
51 |
#define QUEUE_SIZE 4 |
52 |
|
53 |
|
54 |
/** @brief Initialize the motors module and driver. **/
|
55 |
int main(int argc, char **argv); |
56 |
|
57 |
/** @brief Responds to topic to set motor speeds and configs. **/
|
58 |
void motors_set(const motors::set_motors::ConstPtr& msg); |
59 |
|
60 |
/** @brief Responds to service to query motor speeds. **/
|
61 |
bool motors_query(motors::query_motors::Request &req,
|
62 |
motors::query_motors::Response &res); |
63 |
|
64 |
/** @brief Converts speeds from speeds in units to absolute speeds. **/
|
65 |
int motors_rel_to_abs(int rel_speed, int units); |
66 |
|
67 |
/** @brief Converts speeds from absolute speeds to speeds in units. **/
|
68 |
int motors_abs_to_rel(int rel_speed, int units); |
69 |
|
70 |
#endif
|