Revision dbbad8ed

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scout/encoders/src/encoders.cpp
39 39
 * @{
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 **/
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#include <fstream>
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#include <ros/ros.h>
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#include "encoders.h"
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......
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int Encoder::get_ticks()
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{
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    // open device file
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    fticks.open(filename, std::ios::in);
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    std::fstream fticks(filename, std::ios::in);
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    int ticks;
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    fticks >> ticks;
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    fticks.close();
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    return ticks;
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}
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/**
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 * @brief Resets the encoder
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 *
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 * Sets the encoder's ticks value back to 0
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 */
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void Encoder::reset()
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{
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    std::fstream fticks(filename, std::ios::out);
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    fticks << 0;
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}
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/**
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 * @brief Outputs current encoder data
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 *
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 * Serves the service query_encoders by responding to service requests with the
......
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}
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/**
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 * @brief Resets all four encoders
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 *
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 * Serves the service reset_encoders
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 * @param req The request. Empty.
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 * @param res The response. Empty.
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 */
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bool handle_reset_query(::messages::reset_encoders::Request &req,
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                        ::messages::reset_encoders::Response &res)
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{
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    encoder_fl.reset();
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    encoder_fr.reset();
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    encoder_bl.reset();
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    encoder_br.reset();
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    return true;
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}
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/**
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 * @brief Encoders driver. This is a ROS node that controls encoders.
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 *
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 * This is the main function for the encoders node. It is run when the node
scout/encoders/src/encoders.h
35 35
#ifndef _ENCODERS_H_
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#define _ENCODERS_H_
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#include <fstream>
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#include <messages/query_encoders.h>
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#include <messages/reset_encoders.h>
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class Encoder
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{
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    public:
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        Encoder(int n);
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        int get_ticks();
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        void reset();
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    private:
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        char filename[60];
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        std::fstream fticks; /**< The file in sysfs containing tick count */
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};
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int main(int argc, char **argv);
scout/libscout/src/EncodersControl.cpp
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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< ::messages::query_encoders>(scoutname+"/query_encoders");
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    query_client = node.serviceClient< ::messages::query_encoders>(
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            scoutname+"/query_encoders");
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    reset_client = node.serviceClient< ::messages::reset_encoders>(
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            scoutname+"/reset_encoders");
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}
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/**
......
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    return cur_readings;
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}
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/**
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 * @brief Resets the encoder tick count to 0.
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 */
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void EncodersControl::reset()
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{
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    ::messages::reset_encoders srv;
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    if (!reset_client.call(srv))
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    {
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        ROS_ERROR("EncodersControl reset failed.");
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    }
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}
scout/libscout/src/EncodersControl.h
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#include <ros/ros.h>
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#include <messages/query_encoders.h>
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#include <messages/reset_encoders.h>
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#include "constants.h"
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......
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        /** Use ROS to get the current encoder position. */
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        encoder_readings query();
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        /** User ROS to reset the encoder count. */
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        void reset();
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    private:
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        /* ROS publisher and client declaration */
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        ros::ServiceClient query_client;
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        ros::ServiceClient reset_client;
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        ros::NodeHandle node;
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};
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scout/messages/srv/reset_encoders.srv
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