Statistics
| Branch: | Revision:

root / scout / libscout / src / SonarControl.h @ 65c7f52b

History | View | Annotate | Download (2.58 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 SonarControl.h
28
 * @brief Contains sonar declarations and functions
29
 * 
30
 * Contains functions and definitions for the use of
31
 * sonar
32
 *
33
 * @author Colony Project, CMU Robotics Club
34
 * @author Priyanka Deo
35
 **/
36

    
37
#ifndef _SONAR_CONTROL_H_
38
#define _SONAR_CONTROL_H_
39

    
40
#include <ros/ros.h>
41
/// @TODO maybe not so good! Then packages have to depend on libscout.
42
#include <libscout/constants.h>
43
#include <sonar/sonar_set_scan.h>
44
#include <sonar/sonar_toggle.h>
45
#include <sonar/sonar_direction.h>
46

    
47
class SonarControl
48
{
49
    public:
50
        /** Set up the motor node and prepare to communicate over ROS */
51
        SonarControl(const ros::NodeHandle& libscout_node);
52

    
53
        /** Sets sonar to a position (0-180 deg) specified by input */
54
        void set(int position);
55

    
56
        /** Sets sonar to scan a range in 0-180 specified by input */
57
        void set_range(int start_pos, int end_pos);        
58

    
59
        /** Returns the distance readings of sonars */
60
        float query_front(void);
61
        float query_back(void);
62
    
63
    private:
64
        /** Converts between values outputted by sensor and physical distances */
65
        float sonar_to_dist(float sonar_value);
66
        float dist_to_sonar(float distance);
67

    
68
        /* Front and back distance values read by sonar. */
69
        float front_dist;
70
        float back_dist;
71

    
72
        /** ROS publisher and client declaration */
73
        ros::Publisher sonar_set_scan_pub;
74
        ros::Publisher sonar_toggle_pub;
75
        ros::ServiceClient query_sonar;
76

    
77
        ros::NodeHandle node;
78

    
79
};
80

    
81
#endif
82