root / scout / scoutsim / src / scout_teleop.h @ 68b23184
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#ifndef _SCOUT_TELEOP_
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#define _SCOUT_TELEOP_
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#include <ros/ros.h> |
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#include <motors/set_motors.h> |
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#include <signal.h> |
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#include <termios.h> |
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#include <stdio.h> |
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#include <scoutsim/teleop_input.h> |
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#define QUEUE_SIZE 10 |
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#define KEYCODE_R 0x43 |
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#define KEYCODE_L 0x44 |
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#define KEYCODE_U 0x41 |
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#define KEYCODE_D 0x42 |
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#define KEYCODE_Q 0x71 |
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#define KEYCODE_S 0x73 |
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// a second
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#define MAX_WAIT_TIME ros::Duration(0.5) |
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class TeleopScout |
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{ |
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public:
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TeleopScout(std::string scoutname); |
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void keyListenerLoop();
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private:
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ros::NodeHandle node; |
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bool fl_set, fr_set, bl_set, br_set;
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int fl_speed, fr_speed, bl_speed, br_speed;
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char last_key;
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ros::Time last_time; |
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void teleop_input_callback(const scoutsim::teleop_input::ConstPtr& msg); |
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ros::Publisher motors_pub; |
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ros::Subscriber key_input_sub; |
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}; |
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#endif
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