Revision ce8c3190
| ID | ce8c3190b5bdbfd116d77d8feb3c981dcd3cc30e |
Integrated SonarControl into the libscout package.
| scout/libscout/manifest.xml | ||
|---|---|---|
| 13 | 13 |
<depend package="motors"/> |
| 14 | 14 |
<depend package="headlights"/> |
| 15 | 15 |
<depend package="buttons"/> |
| 16 |
<depend package="sonar"/> |
|
| 16 | 17 |
|
| 17 | 18 |
</package> |
| 18 | 19 |
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| scout/libscout/src/SonarControl.h | ||
|---|---|---|
| 38 | 38 |
#define _SONAR_CONTROL_H_ |
| 39 | 39 |
|
| 40 | 40 |
#include <ros/ros.h> |
| 41 |
/// @TODO maybe not so good! Then packages have to depend on libscout. |
|
| 42 |
#include <libscout/constants.h> |
|
| 43 | 41 |
#include <sonar/sonar_set_scan.h> |
| 44 | 42 |
#include <sonar/sonar_toggle.h> |
| 45 | 43 |
#include <sonar/sonar_direction.h> |
| ... | ... | |
| 53 | 51 |
/** Sets sonar to a position (0-180 deg) specified by input */ |
| 54 | 52 |
void set(int position); |
| 55 | 53 |
|
| 56 |
/** Sets sonar to scan a range in 0-180 specified by input */
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| 57 |
void set_range(int start_pos, int end_pos);
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| 54 |
/** Sets sonar to scan a range in 0-180 specified by input */
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| 55 |
void set_range(int start_pos, int end_pos);
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| 58 | 56 |
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| 59 | 57 |
/** Returns the distance readings of sonars */ |
| 60 | 58 |
float query_front(void); |
| 61 |
float query_back(void);
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| 59 |
float query_back(void);
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| 62 | 60 |
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| 63 | 61 |
private: |
| 64 |
/** Converts between values outputted by sensor and physical distances */
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| 62 |
/** Converts between values output by sensor and physical distances */
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|
| 65 | 63 |
float sonar_to_dist(float sonar_value); |
| 66 | 64 |
float dist_to_sonar(float distance); |
| 67 | 65 |
|
| ... | ... | |
| 71 | 69 |
|
| 72 | 70 |
/** ROS publisher and client declaration */ |
| 73 | 71 |
ros::Publisher sonar_set_scan_pub; |
| 74 |
ros::Publisher sonar_toggle_pub;
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|
| 72 |
ros::Publisher sonar_toggle_pub;
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|
| 75 | 73 |
ros::ServiceClient query_sonar; |
| 76 | 74 |
|
| 77 | 75 |
ros::NodeHandle node; |
| 78 |
|
|
| 79 | 76 |
}; |
| 80 | 77 |
|
| 81 | 78 |
#endif |
| scout/libscout/src/libscout.cpp | ||
|---|---|---|
| 64 | 64 |
|
| 65 | 65 |
MotorControl motors = new MotorControl(node); |
| 66 | 66 |
HeadLightControl headlights = new HeadlightControl(node); |
| 67 |
SonarControl sonars = new SonarControl(node); |
|
| 67 | 68 |
|
| 68 | 69 |
/** @todo Copy this if for each module that gets added to the library */ |
| 69 | 70 |
/*if(modules & LIB_MOTORS) |
| scout/libscout/src/libscout.h | ||
|---|---|---|
| 45 | 45 |
|
| 46 | 46 |
#include "MotorControl.h" |
| 47 | 47 |
#include "HeadlightControl.h" |
| 48 |
#include "SonarControl.h" |
|
| 48 | 49 |
|
| 49 | 50 |
/* Libscout functions */ |
| 50 | 51 |
int init(int modules, int argc, char **argv); |
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