Colony » Colony Scout

/**

 * 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

 **/

#ifndef _MOTORS_H_

#define _MOTORS_H_

#include "motors/query_motors.h"

#include "motors/set_motors.h"

#define MAXSPEED 512

#define MOTOR_ALL 0xF

#define MOTOR_ALL_REV 0xF0

#define MOTOR_NONE 0x0

#define MOTOR_FL 0x8

#define MOTOR_FR 0x4

#define MOTOR_BL 0x2

#define MOTOR_BR 0x1

#define MOTOR_FL_REV 0x80

#define MOTOR_FR_REV 0x40

#define MOTOR_BL_REV 0x20

#define MOTOR_BR_REV 0x10

#define MOTOR_FRONT MOTOR_FL | MOTOR_FR

#define MOTOR_BACK MOTOR_BR | MOTOR_BR

#define MOTOR_LEFT MOTOR_FL | MOTOR_BL

#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR

#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV

#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV

#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT

#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV

#define MOTOR_PERCENT 'p'

#define MOTOR_MMS 'm'

#define MOTOR_CMS 'c'

#define MOTOR_ABSOLUTE 'a'

/* The number of messages in the queue. If messages arrive faster than they are

 * handled, old ones are thrown out */

#define QUEUE_SIZE 4

/** @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);

/** @brief Converts speeds from speeds in units to absolute speeds. **/

int motors_rel_to_abs(int rel_speed, int units);

/** @brief Converts speeds from absolute speeds to speeds in units. **/

int motors_abs_to_rel(int rel_speed, int units);

#endif