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1 14241f84 Lalitha Ganesan
/**
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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 encoders.h
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 * @brief Contains encoder declarations and functions.
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 * 
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 * @author Colony Project, CMU Robotics Club
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 * @author Alex Zirbel
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 * @author Tom Mullins
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 **/
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#ifndef _ENCODERS_H_
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#define _ENCODERS_H_
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#include <fstream>
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#include <messages/query_encoders.h>
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class Encoder
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{
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    public:
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        Encoder(int n);
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        int get_ticks();
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    private:
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        std::fstream fticks; /**< The file in sysfs containing tick count */
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};
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/** @brief Initialize the encoders module and driver **/
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int main(int argc, char **argv);
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/** @brief Responds to service to query encoder data **/
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bool handle_encoders_query(messages::query_encoders::Request  &req,
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                           messages::query_encoders::Response &res);
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#endif