Revision a8480867
| ID | a84808670408804bf5ce08741a3b59130351928f |
Made a lot of changes to the general structure.
Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:
- All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
- Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
- Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.
A few formatting changes:
- Comments should end with / always, not */
- Use @ instead of \
- No double newlines.
The motors node is revamped and pretty much correct at this point.
| scout/libscout/src/libscout.h | ||
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file libscout.h |
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* @brief Contains top level scout library functions |
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#ifndef _LIBSCOUT_H_ |
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#define _LIBSCOUT_H_ |
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#include "ros/ros.h"
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#include "constants.h"
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#include "libmotors.h" |
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#include "libheadlights.h"
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#include "libbuttons.h"
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#include <ros/ros.h>
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#include <libscout/constants.h>
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#include "MotorControl.h"
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#include "HeadlightControl.h"
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/* Libscout functions */ |
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int init(int modules, int argc, char **argv); |
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