Revision 1019d31f
Adding Maung's paintboard i2c code
scout/painter/CMakeLists.txt | ||
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#uncomment if you have defined services |
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#rosbuild_gensrv() |
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rosbuild_add_executable(painter src/painter.cpp) |
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rosbuild_add_executable(painter src/painter.cpp src/paint-i2c.cpp)
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#common commands for building c++ executables and libraries |
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#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
scout/painter/src/paint-i2c.cpp | ||
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/** |
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* Copyright (c) 2013 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 paint_i2c.cpp |
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* @brief Contains i2c communication for the paintboard. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Maung Aung (mza) |
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* @author Tom Mullins (tmullins) |
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* |
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*/ |
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#include <unistd.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <sys/ioctl.h> |
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#include <fcntl.h> |
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#include <linux/i2c-dev.h> |
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#include "paint-i2c.h" |
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#define TRACKING_ID 0x43 |
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#define SERIAL_NUMBER 0x12 |
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// indicies for paintboard internal data |
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#define PAINT_TRACKING_ID 0 // ro |
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#define PAINT_SERIAL_NUMBER 1 // ro |
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#define PAINT_MOTOR_A 2 // rw |
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#define PAINT_MOTOR_B 3 // rw |
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#define PAINT_SERVO_A 4 // rw |
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#define PAINT_SERVO_B 5 // rw |
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#define PAINT_12V_1 6 // rw |
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#define PAINT_12V_2 7 // rw |
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#define PAINT_12V_3 8 // rw |
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#define PAINT_12V_4 9 // rw |
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#define PAINT_INPUT_1 10 // ro |
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#define PAINT_INPUT_2 11 // ro |
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#define PAINT_INPUT_3 12 // ro |
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#define PAINT_DATA_LEN 13 |
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int fd; |
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/* |
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* This function opens communication to I2C. |
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*/ |
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void i2c_start(void) { |
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/* TODO error check */ |
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fd = open("/dev/i2c-3", O_RDWR); |
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ioctl(fd, I2C_SLAVE, TRACKING_ID); |
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} |
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/* |
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* This function ends communication with I2C. |
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*/ |
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void i2c_stop(void) { |
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if (fd) { |
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close(fd); |
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} |
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} |
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/* |
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* This function writes a value to a given destination using I2C. |
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*/ |
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void i2c_write(int dest, int val) { |
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char buf[2]; |
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buf[0] = (char) dest; |
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buf[1] = (char) val; |
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write(fd, buf, 2); |
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} |
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/* |
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* This function reads a value from the given address using I2C |
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*/ |
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char i2c_read(int src) { |
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char buf; |
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buf = src; |
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write(fd, &buf, 1); |
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read(fd, &buf, 1); |
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return buf; |
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} |
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/* |
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* This function takes in an int representing the motor to be modified and an |
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* int representing the value to which to set the motor. |
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*/ |
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void set_motor(int motor, int val) { |
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if (motor == 0) { |
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i2c_write(PAINT_MOTOR_A, val); |
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} else { |
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i2c_write(PAINT_MOTOR_B, val); |
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} |
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} |
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/* |
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* This function takes in an int representing the servo to be modified and an |
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* int representing the value to which to set the servo. |
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*/ |
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void set_servo(int servo, int val) { |
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if (servo == 0) { |
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i2c_write(PAINT_SERVO_A, val); |
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} else { |
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i2c_write(PAINT_SERVO_B, val); |
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} |
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} |
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/* |
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* This function takes in an int representing the solenoid to be modified and |
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* an int representing the value to which to set the solenoid. |
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*/ |
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void set_solenoid(int solenoid, int val) { |
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if (solenoid == 0) { |
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i2c_write(PAINT_12V_1, val); |
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} else if (solenoid == 1) { |
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i2c_write(PAINT_12V_2, val); |
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} else if (solenoid == 2) { |
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i2c_write(PAINT_12V_3, val); |
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} else { |
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i2c_write(PAINT_12V_4, val); |
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} |
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} |
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/* |
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* This funciton takes an int representing which of the spare inputs to read. |
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*/ |
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int get_input(int input) { |
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switch (input) { |
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case 0: return i2c_read(PAINT_INPUT_1); |
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case 1: return i2c_read(PAINT_INPUT_2); |
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case 2: return i2c_read(PAINT_INPUT_3); |
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default: return 0; |
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} |
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} |
scout/painter/src/paint-i2c.h | ||
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/** |
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* Copyright (c) 2013 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* 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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24 |
*/ |
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|
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/** |
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* @file paint_i2c.h |
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* @brief Contains i2c communication for the paintboard. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Maung Aung (mza) |
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* @author Tom Mullins (tmullins) |
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* |
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*/ |
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void i2c_start(void); |
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void i2c_stop(void); |
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void set_motor(int motor, int val); |
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void set_servo(int servo, int val); |
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void set_solenoid(int solenoid, int val); |
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int get_input(int input); |
scout/painter/src/painter.cpp | ||
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1 | 1 |
/** |
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* Copyright (c) 2011 Colony Project
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* Copyright (c) 2013 Colony Project
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* |
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* Permission is hereby granted, free of charge, to any person |
5 | 5 |
* obtaining a copy of this software and associated documentation |
... | ... | |
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#include <messages/set_paintboard.h> |
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#include <messages/query_paintboard.h> |
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#include <messages/query_metal_detector.h> |
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#include "paint-i2c.h" |
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using namespace std; |
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int painter_value; |
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/** |
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* @brief ROS callback to turn the paint output on or off |
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*/ |
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void paint_set(const ::messages::set_paintboard::ConstPtr& msg) |
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{ |
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painter_value = msg->setting; |
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set_servo(0, painter_value); |
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} |
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/** |
... | ... | |
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bool paint_query(::messages::query_paintboard::Request &req, |
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::messages::query_paintboard::Response &res) |
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{ |
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res.setting = painter_value; |
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return true; |
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} |
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|
... | ... | |
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bool metal_query(::messages::query_metal_detector::Request &req, |
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::messages::query_metal_detector::Response &res) |
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{ |
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res.metal = get_input(0); |
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return true; |
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} |
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... | ... | |
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ros::init(argc, argv, "painter"); |
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ros::NodeHandle node; |
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i2c_start(); |
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set_motor(0, 0); |
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set_servo(0, 0); |
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ros::Subscriber painter_sub = node.subscribe("/set_paintboard", QUEUE_SIZE, |
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paint_set); |
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ros::ServiceServer painter_srv = node.advertiseService("/query_paintboard", |
... | ... | |
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ROS_INFO("Painter node ready."); |
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ros::spin(); |
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i2c_stop(); |
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return 0; |
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} |
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