scoutos / scout / libscout / src / CliffsensorControl.h @ 1034f829
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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 CliffsensorControl.h
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* @brief Contains cliffsensor declarations and functions.
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*
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* Contains functions and definitions for the use of
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* cliffsensors.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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* @author Leon Zhang
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**/
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#ifndef _CLIFFSENSOR_H_
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#define _CLIFFSENSOR_H_
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#include <cliffsensor/query_cliff.h> |
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#include <cliffsensor/cliff_status_changed.h> |
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#include "constants.h" |
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#define CLIFF_DETECTED 0x0 |
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#define NO_CLIFF 0x1 |
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class CliffsensorControl |
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{ |
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public:
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CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);
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/** @brief Responds to topic to change cliff sensor status. **/
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void changed_cliff_status(
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const cliffsensor::cliff_status_changed::ConstPtr& msg);
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int get_front_raw();
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int get_left_raw();
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int get_right_raw();
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bool check_is_cliff();
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private:
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/* Cliffsensor state variables
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*/
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int front_raw; /**< The current raw value |
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data of the front cliffsensor. */
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int left_raw; /**< The current raw value data of |
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the left cliffsensor. */
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int right_raw; /**< The current raw value data of |
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the right cliffsensor. */
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ros::Subscriber cliff_status_changed_sub; |
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ros::NodeHandle node; |
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}; |
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#endif
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