Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file libmotors.cpp

 * @brief Contains motor declarations and functions

 * 

 * Contains functions and definitions for the use of

 * motors

 *

 * @author Colony Project, CMU Robotics Club

 **/

/* Author: Ben Wasserman

*/

#include "libmotors.h"

void libmotors_init(){

  set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10);

  query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors");

}

int motors_set(int speed, int which){

  /** \todo Set fields of the message based on params */

  if(!ros::ok()){

    return LIB_ERROR;

  }

  motors::set_motors msg;

  msg.fl_speed = speed;

  msg.fr_speed = speed;

  msg.bl_speed = speed;

  msg.br_speed = speed;

//  set_motors_publisher.publish(msg);

  ros::spinOnce();

  return LIB_OK;

}

int motors_speed_set(int speed, int which){

  return LIB_OK;

}

int motors_query(int which){

  motors::query_motors srv;

  if(query_motors_client.call(srv)){

    switch(which){

      case MOTOR_FL:

        return srv.response.fl_speed;

      case MOTOR_FR:

        return srv.response.fr_speed;

      case MOTOR_BL:

        return srv.response.bl_speed;

      case MOTOR_BR:

        return srv.response.br_speed;

      default:{

        ROS_WARN("Bad WHICH in motors_query.");

        return LIB_ERROR;

      }

    }

  }else{

    ROS_ERROR("Failed to call service query_motors");

    return LIB_ERROR;

  }

  return 0;

}