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/motors/msg/set_motors.msg | ||
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1 | 1 |
Header header |
2 | 2 |
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3 |
# Keeps track of which motors need to be changed |
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4 |
int8 which |
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5 |
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6 | 3 |
# Set these to true if the motor should be updated |
7 | 4 |
bool fl_set |
8 | 5 |
bool fr_set |
9 | 6 |
bool bl_set |
10 | 7 |
bool br_set |
11 | 8 |
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12 |
# The motor speeds, from -255 to 255 if absolute |
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13 |
# -100 to 100 if percentage |
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14 |
# Decimal values if in measured units |
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15 |
float32 fl_speed |
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16 |
float32 fr_speed |
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17 |
float32 bl_speed |
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18 |
float32 br_speed |
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19 |
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20 |
# Allows motor speeds to be specified mm/s, cm/s, percent, or absolute |
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21 |
int8 units |
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9 |
# The absolute motor speeds to set |
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10 |
int8 fl_speed |
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11 |
int8 fr_speed |
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12 |
int8 bl_speed |
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13 |
int8 br_speed |
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