Revision 572adceb
Fixed the analog node.
Only a couple small changes were needed here. For the most part, good job Dev - looks like this is set up correctly for a skeleton. Changes were debugging only.
scout/analog/CMakeLists.txt | ||
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17 | 17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
18 | 18 |
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#uncomment if you have defined messages |
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rosbuild_genmsg() |
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#rosbuild_genmsg()
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#uncomment if you have defined services |
22 | 22 |
rosbuild_gensrv() |
23 | 23 |
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scout/analog/src/analog.cpp | ||
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33 | 33 |
* @author Dev Gurjar |
34 | 34 |
**/ |
35 | 35 |
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#include "ros/ros.h" |
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#include <ros/ros.h> |
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#include "analog.h" |
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//#include "libscout/src/constants.h" |
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#include <cstdlib> |
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/** |
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* @defgroup analog Analog |
... | ... | |
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/** @todo Fix types: static */ |
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unsigned int port; /**< The current port from which we are reading from. */ |
51 | 50 |
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/** |
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* @brief Outputs current analog data at a given port |
55 | 53 |
* |
... | ... | |
58 | 56 |
* @param req The request. The only field is the units requested. |
59 | 57 |
* @param res The response. The fields will be filled with values. |
60 | 58 |
*/ |
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bool analog_query(motors::query_analog::Request &req,
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motors::query_analog::Response &res)
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bool analog_query(analog::query_analog::Request &req,
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analog::query_analog::Response &res)
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{ |
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int port = port; |
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int port = req.port;
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res.sensor_data = get_sensor_data(port); |
66 | 64 |
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ROS_DEBUG("Analog data queried"); |
... | ... | |
75 | 73 |
* |
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* @param port The port we want to read from |
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*/ |
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unsigned int get_sensor_data(int port){
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ROS_DEBUG("Got Analog data from the sensor"); |
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unsigned int get_sensor_data(int port) |
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{ |
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ROS_DEBUG("Got Analog data from the sensor [Unimplemented]");
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return 0; |
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} |
83 | 81 |
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/** |
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* @brief Motors driver. This is a ROS node that controls motor speeds. |
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* |
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* This is the main function for the motors node. It is run when the node |
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* starts and initializes the motors. It then subscribes to the |
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* set_motors, and set_motor_speeds topics, and advertises the |
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* query_motors service. |
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* |
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* @param argc The number of command line arguments (should be 1) |
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* @param argv The array of command line arguments |
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**/ |
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* @brief Analog driver. Provides an interface to read data from analog ports. |
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*/ |
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int main(int argc, char **argv) |
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{ |
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/* Initialize in ROS the motors driver node */ |
... | ... | |
102 | 92 |
ros::ServiceServer service = n.advertiseService("query_analog", |
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analog_query); |
104 | 94 |
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/* Initialize hardware for motors */ |
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/* Initialize hardware for analog */ |
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// Hardware init functions here |
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ros::spin(); |
108 | 99 |
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scout/analog/src/analog.h | ||
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38 | 38 |
#define _ANALOG_H_ |
39 | 39 |
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#include "analog/query_analog.h" |
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//#include "analog/set_motors.h" |
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/** @brief Analog port 0 **/ |
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#define AN0 0x00 |
... | ... | |
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#define AN15 0x0F |
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/** @brief Struct to hold the value of a particular analog port **/ |
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typedef struct { |
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typedef struct |
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{ |
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uint8_t adc8; |
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uint16_t adc10; |
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} adc_t; |
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/* The number of messages in the queue. If messages arrive faster than they are |
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* handled, old ones are thrown out */ |
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#define QUEUE_SIZE 4
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#define QUEUE_SIZE 10
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/** @brief Initialize the analog module and driver. **/ |
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int main(int argc, char **argv); |
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