scoutos / scout / libscout / src / Sensors.h @ 360e3b6c
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1 | d140fd71 | Yuyang | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | /**
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27 | * @file Behavior.h
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28 | * @brief Contains declarations for the structure of all behaviours.
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29 | *
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30 | * Contains functions and definitions for a generic behavior.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Priyanka Deo
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34 | * @author Alex Zirbel
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35 | **/
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36 | |||
37 | #ifndef _SENSORS_H_
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38 | #define _SENSORS_H_
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39 | |||
40 | #include <ros/ros.h> |
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41 | #include <std_msgs/String.h> |
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42 | |||
43 | #include "MotorControl.h" |
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44 | #include "HeadlightControl.h" |
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45 | #include "ButtonControl.h" |
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46 | #include "SonarControl.h" |
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47 | //#include "CliffsensorControl.h"
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48 | #include "EncodersControl.h" |
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49 | #include "LinesensorControl.h" |
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50 | #include "WirelessSender.h" |
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51 | #include "WirelessReceiver.h" |
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52 | |||
53 | class Sensors |
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54 | { |
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55 | public:
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56 | Sensors(std::string scoutname); |
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57 | // b_stuff stand for behavior control class
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58 | void init(MotorControl ** b_motors, ButtonControl ** b_buttons,
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59 | SonarControl ** b_sonar, EncodersControl ** b_encoders, |
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60 | LinesensorControl ** b_linesensor, |
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61 | WirelessSender ** b_wl_sender, |
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62 | WirelessReceiver ** b_wl_receiver); |
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63 | std::string name; |
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64 | private:
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65 | ros::NodeHandle node; |
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66 | MotorControl * motors; |
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67 | ButtonControl * buttons; |
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68 | SonarControl * sonar; |
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69 | //CliffsensorControl * cliffsensor;
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70 | EncodersControl * encoders; |
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71 | LinesensorControl * linesensor; |
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72 | WirelessSender * wl_sender; |
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73 | WirelessReceiver * wl_receiver; |
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74 | |||
75 | }; |
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76 | |||
77 | |||
78 | #endif |