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root / scout / libscout / src / LinesensorControl.cpp @ ade1b7f9

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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 LinesensorControl.cpp
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 * @brief Contains line following function implementation
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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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 */
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#include "LinesensorControl.h"
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using namespace std;
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/**
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 * @brief Initialize the line following module of libscout.
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 */
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LinesensorControl::LinesensorControl(const ros::NodeHandle& libscout_node,
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                                 string scoutname)
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    : node(libscout_node)
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{
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    query_client =
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        node.serviceClient<linesensor::query_linesensor>(scoutname+"/query_linesensor");
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}
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/**
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 * @brief Returns the current readings of the line follwing sensor.
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 * 
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 * @todo This shouldn't be returning void. These functions, in general, should
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 *       be changed to be more useful.
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 */
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void LinesensorControl::query()
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{
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    // Set scan range
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    linesensor::query_linesensor srv;
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    if (!query_client.call(srv))
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    {
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        ROS_ERROR("LinesensorControl query failed.");
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    }
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    for (int i = 0; i < 8; i++)
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    {
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        cout << "[" << i << "]: " << srv.response.readings[i] << ", ";
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    }
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    cout << endl;
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}
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