Revision 737bb380 scout/libscout/src/libscout.cpp

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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();

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