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Revision 5d0687a9

ID5d0687a9991d806c94fc7c21405334e6717e3611

Added by Priya about 12 years ago

Small changes to wireless, and starting turning with line following.

View differences:

scout/libscout/src/WirelessSender.h
31 31 
 * Contains functions and definitions for the use of
32 32 
 * XBee wireless
33 33 
 *
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 * Uses the dest field of the wireless packet to specify which
35 
 * scout the message is intended for, or SCOUT_ALL to send to
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 * all scouts
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 *
34 38 
 * @author Colony Project, CMU Robotics Club
35 39 
 * @author Tom Mullins
36 40 
 **/
......
43 47 
#include "messages/WirelessPacket.h"
44 48 
#include "constants.h"
45 49 

  		




  
  50
  
    
/// A macro to allow sending to all the scouts.


  		




  
  51
  
    
#define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)


  		




  
  52
  
    

  		




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class WirelessSender


  		




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{


  		




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    public:


  		




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        WirelessSender(uint16_t type = 0,


  		




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                uint16_t dest = messages::WirelessPacket::DEST_BROADCAST,


  		




  
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        WirelessSender(const ros::NodeHandle& libscout_node,


  		




  
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                uint16_t type = 0,


  		




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                uint16_t pan = messages::WirelessPacket::PAN_DEFAULT,


  		




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                uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT);


  		




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        void setType(uint16_t type);


  		




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        void setDest(uint16_t dest);


  		




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        void setPan(uint16_t pan);


  		




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        void setChannel(uint16_t channel);


  		




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  59
  
  
    
        void send(uint8_t data[], int length);


  		




  60
  
  
    
        void send(std::vector<uint8_t>& data);


  		




  
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        void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL);


  		




  
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        void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);


  		




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    private:


  		




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        ros::NodeHandle nh;


  		




  
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        ros::NodeHandle node;


  		




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        ros::Publisher pub;


  		




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        messages::WirelessPacket packet;


  		




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        void publish();


  		




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};


  		




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#endif


  		












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