Revision 676cbe0e
Integrated paintboard and metal detector control classes more fully.
scout/libscout/src/Behavior.cpp | ||
---|---|---|
55 | 55 |
name = my_name; |
56 | 56 |
keep_running = true; |
57 | 57 |
sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
58 |
&wl_sender, &wl_receiver); |
|
58 |
&wl_sender, &wl_receiver, &paintboard, &metal_detector);
|
|
59 | 59 |
wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
60 | 60 |
this, std::placeholders::_1)); |
61 | 61 |
|
scout/libscout/src/Behavior.h | ||
---|---|---|
92 | 92 |
LinesensorControl * linesensor; |
93 | 93 |
WirelessSender * wl_sender; |
94 | 94 |
WirelessReceiver * wl_receiver; |
95 |
PaintBoardControl * paintboard; |
|
96 |
MetalDetectorControl * metal_detector; |
|
95 | 97 |
|
96 | 98 |
// Default callback for wireless receiver. |
97 | 99 |
void default_callback(std::vector<uint8_t> data); |
scout/libscout/src/Sensors.cpp | ||
---|---|---|
48 | 48 |
encoders = new EncodersControl(node, scoutname); |
49 | 49 |
linesensor = new LinesensorControl(node, scoutname); |
50 | 50 |
wl_sender = new WirelessSender(node); |
51 |
paintboard = new PaintBoardControl(node, scoutname); |
|
52 |
metal_detector = new MetalDetectorControl(node, scoutname); |
|
51 | 53 |
} |
52 | 54 |
|
53 | 55 |
// b_stuff stand for behavior control class |
... | ... | |
55 | 57 |
SonarControl ** b_sonar, EncodersControl ** b_encoders, |
56 | 58 |
LinesensorControl ** b_linesensor, |
57 | 59 |
WirelessSender ** b_wl_sender, |
58 |
WirelessReceiver ** b_wl_receiver) |
|
60 |
WirelessReceiver ** b_wl_receiver, |
|
61 |
PaintBoardControl ** b_paintboard, |
|
62 |
MetalDetectorControl ** b_metal_detector) |
|
59 | 63 |
{ |
60 | 64 |
//(MotorControl *)(* b_motors) = motors; |
61 | 65 |
*b_motors = motors; |
... | ... | |
65 | 69 |
*b_linesensor = linesensor; |
66 | 70 |
*b_wl_sender = wl_sender; |
67 | 71 |
*b_wl_receiver = new WirelessReceiver(node); |
72 |
*b_paintboard = paintboard; |
|
73 |
*b_metal_detector = metal_detector; |
|
68 | 74 |
} |
scout/libscout/src/Sensors.h | ||
---|---|---|
61 | 61 |
SonarControl ** b_sonar, EncodersControl ** b_encoders, |
62 | 62 |
LinesensorControl ** b_linesensor, |
63 | 63 |
WirelessSender ** b_wl_sender, |
64 |
WirelessReceiver ** b_wl_receiver); |
|
64 |
WirelessReceiver ** b_wl_receiver, |
|
65 |
PaintBoardControl ** b_paintboard, |
|
66 |
MetalDetectorControl ** b_metal_detector); |
|
65 | 67 |
std::string name; |
66 | 68 |
private: |
67 | 69 |
ros::NodeHandle node; |
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