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scout/libscout/src/behavior.cpp
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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 behavior.cpp
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 * @brief Contains behavior
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 * 
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 * @author Colony Project, CMU Robotics Club
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 * @author Ben Wasserman
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 **/
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#include "libscout.h"
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/*!
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 * \brief Main. The main function for the behavior.
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 * 
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 * This is the main function for libscout. It calls init() which initializes
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 * the clients and publishers/subscribers for the other parts of the library.
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 *
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 * \param argc The number of command line arguments (should be 1)
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 * \param argv The array of command line arguments
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 **/
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int main(int argc, char **argv){
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  init(LIB_ALL, argc, argv);
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  /** \todo remove this test code **/
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//  motors_set(100, MOTOR_ALL);
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  ROS_INFO("%d", motors_query(MOTOR_FL));
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	ROS_SPIN(
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  return 0;
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}
scout/libscout/src/libscout.cpp
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 * libscout
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Ben Wasserman
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 **/
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/* Author: Ben Wasserman
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*/
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#include "libscout.h"
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/* Global objects */
......
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**/
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/*!
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 * \brief LibScout. Primary library for interfacing behaviors with scout hw.
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 * 
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 * This is the main function for libscout. It is run when the node starts and
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 * starts the library. It calls init() which initializes the clients and
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 * publishers/subscribers for the other parts of the library.
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 *
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 * \param argc The number of command line arguments (should be 1)
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 * \param argv The array of command line arguments
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 **/
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int main(int argc, char **argv){
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  ros::init(argc, argv, "libscout");
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  init(LIB_ALL);
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  /** \todo remove this test code **/
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//  motors_set(100, MOTOR_ALL);
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  ROS_INFO("%d", motors_query(MOTOR_FL));
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  return 0;
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}
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/*!
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 * \brief Initializes modules in the libscout.
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 * 
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 * Calls init functions for each module in libscout.
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 * \param modules A bitmask of the modules that will be initialized.
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 **/
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int init(int modules){
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int init(int modules, int argc, char **argv){
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	ros::init(argc, argv, "libscout");
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  /** \todo Copy this if for each module that gets added to the library */
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  if(modules & LIB_MOTORS){
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    libmotors_init();
scout/libscout/src/libscout.h
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 * libscout
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Ben Wasserman
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 **/
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/* Author: Ben Wasserman
......
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#include "libmotors.h"
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/* Libscout functions */
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int main(int argc, char **argv);
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int init(int modules);
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int init(int modules, int argc, char **argv);
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#endif
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