Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 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 motors.h

 * @brief Contains motor declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * motors.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Benjamin Wasserman

 * @author Alex Zirbel

 * @author Tom Mullins

 **/

#ifndef _MOTORS_H_

#define _MOTORS_H_

#include <fstream>

#include <motors/set_motors.h>

#include <motors/query_motors.h>

#define QUEUE_SIZE 10

/** @brief Initialize the motors module and driver. **/

int main(int argc, char **argv);

/** @brief Responds to topic to set motor speeds and configs. **/

void motors_set(const motors::set_motors::ConstPtr& msg);

/** @brief Responds to service to query motor speeds. **/

bool motors_query(motors::query_motors::Request &req,

                  motors::query_motors::Response &res);

class Motor

{

    public:

        Motor(int pwm_gpt, int in1_gpio, int in2_gpio);

        ~Motor();

        int get_speed();

        void set_speed(int speed);

    private:

        int speed; /**< The current speed of the motor */

        std::fstream fpwm; /**< The device file controlling PWM */

        std::fstream fin1; /**< The device file controlling IN1 */

        std::fstream fin2; /**< The device file controlling IN2 */

};

#endif