root / scout / libscout / src / SonarControl.h @ c06735bb
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1 | 65c7f52b | pdeo | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | c492be62 | Alex Zirbel | */
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25 | 65c7f52b | pdeo | |
26 | /**
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27 | * @file SonarControl.h
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28 | * @brief Contains sonar declarations and functions
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29 | *
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30 | * Contains functions and definitions for the use of
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31 | * sonar
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priyanka Deo
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35 | **/
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36 | |||
37 | #ifndef _SONAR_CONTROL_H_
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38 | #define _SONAR_CONTROL_H_
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39 | |||
40 | #include <ros/ros.h> |
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41 | #include <sonar/sonar_set_scan.h> |
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42 | #include <sonar/sonar_toggle.h> |
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43 | b00761a0 | Alex Zirbel | #include <sonar/sonar_distance.h> |
44 | |||
45 | #include "constants.h" |
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46 | 65c7f52b | pdeo | |
47 | class SonarControl |
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48 | { |
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49 | public:
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50 | /** Set up the motor node and prepare to communicate over ROS */
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51 | c492be62 | Alex Zirbel | SonarControl(const ros::NodeHandle& libscout_node,
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52 | std::string scoutname); |
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53 | 65c7f52b | pdeo | |
54 | b00761a0 | Alex Zirbel | /** Sets sonar to a position (0-23) specified by input */
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55 | c492be62 | Alex Zirbel | void set_single(int position); |
56 | 65c7f52b | pdeo | |
57 | b00761a0 | Alex Zirbel | /** Sets sonar to scan a range in 0-23 specified by input */
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58 | 15b7e607 | pdeo | void set_range(int start_pos, int end_pos); |
59 | |||
60 | b00761a0 | Alex Zirbel | /** (Re)starts sonar panning and taking readings */
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61 | void set_on();
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62 | |||
63 | c492be62 | Alex Zirbel | /** Stops sonar from panning and taking readings */
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64 | void set_off();
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65 | b00761a0 | Alex Zirbel | |
66 | 3db79f25 | Priya | /** Get sonar readings */
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67 | int* get_sonar_readings();
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68 | |||
69 | 65c7f52b | pdeo | private:
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70 | c492be62 | Alex Zirbel | /** Record the new sonar distance measurement */
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71 | void distance_callback(const sonar::sonar_distance::ConstPtr& msg); |
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72 | 65c7f52b | pdeo | |
73 | b00761a0 | Alex Zirbel | /** Sends a sonar_toggle message. */
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74 | void set_power(bool is_on); |
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75 | |||
76 | c492be62 | Alex Zirbel | /** Converts between values output by sensor and physical distances */
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77 | //float sonar_to_dist(float sonar_value);
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78 | //float dist_to_sonar(float distance);
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79 | 65c7f52b | pdeo | |
80 | b00761a0 | Alex Zirbel | /** If a service call fails, tries again this many times. */
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81 | int num_attempts;
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82 | |||
83 | /** Keep track of the latest readings and their time of receipt.
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84 | * Readings are in millimeters. */
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85 | int readings[48]; |
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86 | ros::Time timestamps[48];
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87 | |||
88 | c492be62 | Alex Zirbel | /* ROS publisher and client declaration */
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89 | b00761a0 | Alex Zirbel | ros::ServiceClient sonar_set_scan_client; |
90 | ros::ServiceClient sonar_toggle_client; |
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91 | c492be62 | Alex Zirbel | ros::Subscriber sonar_distance_sub; |
92 | 65c7f52b | pdeo | |
93 | ros::NodeHandle node; |
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94 | }; |
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95 | |||
96 | #endif
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