root / scout / libscout / src / CliffsensorControl.cpp @ 3a73516c
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/**
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* Copyright (c) 2011 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
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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**/
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/**
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* @file CliffsensorControl.cpp
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* @brief Contains code to control the cliffsensor.
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*
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* @defgroup motorcontrol MotorControl
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* @brief Functions which a behavior can use to control the motors.
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* @ingroup behavior
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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* @author Leon Zhang
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*
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* @{
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**/
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#include "ros/ros.h" |
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#include "CliffsensorControl.h" |
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#include <cstdlib> |
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/**
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* @brief Initializes the Cliffsensor module in libscout.
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*
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* This is the main function for the cliffsensors node. It is run when the node
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* starts and initializes the cliffsensors. It then subscribes to the
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* cliff_status_changed topics
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**/
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CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
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std::string scoutname) : node(libscout_node)
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{ |
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/* Subscribe to the cliff_status_changed topic */
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cliff_status_changed_sub = node.subscribe("cliff_status_changed",
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QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
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ros::spin(); |
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} |
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/**
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* @brief Changes cliff sensor status
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*
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* Changes cliff sensor status based on subscription to topic cliff_status_changed
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*
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* @param msg The message from the cliff_status_changed topic, containing
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* status of all cliff sensors.
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*
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*/
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void CliffsensorControl::changed_cliff_status(const ::messages::cliff_status_changed::ConstPtr& msg) |
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{ |
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front_raw = msg->cliff_status; |
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left_raw = msg->cliff_status; |
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right_raw = msg->cliff_status; |
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return;
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} |
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/**
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* @brief get the current raw value of the front cliffsensor
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* @return the current raw value of the front cliffsensor
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*/
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int CliffsensorControl::get_front_raw()
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{ |
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return front_raw;
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} |
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/**
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* @brief get the current raw value of the left cliffsensor
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* @return the current raw value of the left cliffsensor
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*/
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int CliffsensorControl::get_left_raw()
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{ |
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return left_raw;
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} |
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/**
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* @brief get the current raw value of the right cliffsensor
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* @return the current raw value of the right cliffsensor
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*/
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int CliffsensorControl::get_right_raw()
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{ |
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return right_raw;
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} |
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/**
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* @brief check if a cliff is being detected
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* @return true if there is a cliff, otherwise
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*/
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bool CliffsensorControl::check_is_cliff()
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{ |
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return (front_raw || left_raw || right_raw);
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} |
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/** @} */
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