root / scout / encoders / src / encoders.cpp @ dbbad8ed
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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 encoders.cpp
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* @brief Encoders
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*
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* Implementation of functions for encoder use.
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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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* @author Tom Mullins
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* @defgroup encoders Encoders
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* @brief Functions for using the encoders
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*
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* @{
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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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/* Encoder instances */
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/* @todo make sure these are the correct numbers */
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static Encoder encoder_fl(0); |
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static Encoder encoder_fr(1); |
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static Encoder encoder_bl(2); |
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static Encoder encoder_br(3); |
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/**
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* @brief Encoder constructor
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*
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* Opens device file, which is read at every call to get_ticks
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*
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* @param n The encoder number to read, between 0 and 3 inclusive
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*/
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Encoder::Encoder(int n)
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{ |
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sprintf(filename, "/sys/class/encoder/enc%d/ticks", n);
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} |
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/**
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* @brief Returns the current tick count
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*
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* This will actually read from the encoder ticks file to get the latest value
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* from the driver
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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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std::fstream fticks(filename, std::ios::in); |
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int ticks;
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fticks >> ticks; |
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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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* encoder values.
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* @param req The request. The units that the response should be in.
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* @param res The response. The fields will be filled with values.
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*/
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bool handle_encoders_query(::messages::query_encoders::Request &req,
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::messages::query_encoders::Response &res) |
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{ |
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/* Put index, velocity, and distance data in message */
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res.fl_distance = -encoder_fl.get_ticks(); |
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res.fr_distance = encoder_fr.get_ticks(); |
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res.bl_distance = encoder_bl.get_ticks(); |
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res.br_distance = encoder_br.get_ticks(); |
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/* @todo maybe return value based on whether reads succeeded */
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ROS_DEBUG("Encoder values queried");
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ROS_INFO("Encoder values queried %d %d %d %d", res.fl_distance, res.fr_distance, res.bl_distance, res.br_distance);
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return true; |
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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
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* starts and initializes the encoders. It then publishes to the
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* encoder_state topic and advertises the query_encoders service.
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*/
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int main(int argc, char **argv) |
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{ |
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/* Initialize in ROS the encoders driver node */
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ros::init(argc, argv, "encoders_driver");
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/* Advertise that this serves the query_encoders service */
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ros::NodeHandle n; |
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ros::ServiceServer service = |
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n.advertiseService("query_encoders",
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handle_encoders_query); |
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ROS_INFO("Ready to set encoders.");
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ros::spin(); |
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return 0; |
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} |
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/** @} */
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