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Revision 0121ead7

ID0121ead71d532ad27980027f0bda30ea591d8e27
Parent c406f16b
Child b64c27b7

Added by Ben Wasserman over 12 years ago

Added the ROS stack with the libscout, motors, and sonar packages to the reposititory, and associated files. There are probably still things missing. Libscout won't run properly, but it and motors will compile. Sonar is probably broken, but nothing depends on it yet, so this shouldn't be an issue.

View differences:

scout/libscout/src/libmotors.h
1 1 
/**
2 
 * Copyright (c) 2007 Colony Project
2 
 * Copyright (c) 2011 Colony Project
3 3 
 *
4 4 
 * Permission is hereby granted, free of charge, to any person
5 5 
 * obtaining a copy of this software and associated documentation
......
42 42 
#include "motors/query_motors.h"
43 43 
#include "motors/set_motors.h"
44 44 

  		




  45
  
  
    

  		




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#ifndef _LIBMOTORS_H_


  		




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#define _LIBMOTORS_H_


  		




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/* Defines */


  		




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const int MOTOR_FL = 0x8;


  		




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const int MOTOR_FR = 0x4;


  		




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const int MOTOR_BL = 0x2;


  		




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const int MOTOR_BR = 0x1;


  		




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ros::Publisher set_motors_publisher;


  		




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ros::ServiceClient query_motors_client;


  		




  
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#define MOTOR_ALL 0xF


  		




  
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#define MOTOR_ALL_REV 0xF0


  		




  
  51
  
    
#define MOTOR_NONE 0x0


  		




  
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#define MOTOR_FL 0x8


  		




  
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#define MOTOR_FR 0x4


  		




  
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#define MOTOR_BL 0x2


  		




  
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#define MOTOR_BR 0x1


  		




  
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#define MOTOR_FL_REV 0x80


  		




  
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#define MOTOR_FR_REV 0x40


  		




  
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#define MOTOR_BL_REV 0x20


  		




  
  59
  
    
#define MOTOR_BR_REV 0x10


  		




  
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#define MOTOR_FRONT MOTOR_FL | MOTOR_FR


  		




  
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#define MOTOR_BACK MOTOR_BR | MOTOR_BR


  		




  
  62
  
    
#define MOTOR_LEFT MOTOR_FL | MOTOR_BL


  		




  
  63
  
    
#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR


  		




  
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#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV


  		




  
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#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV


  		




  
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#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT


  		




  
  67
  
    
#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV


  		




  
  68
  
    
#define MOTOR_PERCENT 'p'


  		




  
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#define MOTOR_MMS 'm'


  		




  
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#define MOTOR_CMS 'c'


  		




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void libmotors_init();


  		




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int motors_set(int speed, int which);


  		




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int motors_speed_set(int speed, int which);


  		




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int motors_query(int which);


  		




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#endif


  		




  
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