scoutos / scout / motors / src / motors.h @ 6ebee82c
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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 motors.h
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* @brief Contains motor declarations and functions.
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*
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* Contains functions and definitions for the use of
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* motors.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Benjamin Wasserman
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* @author Alex Zirbel
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* @author Tom Mullins
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**/
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#ifndef _MOTORS_H_
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#define _MOTORS_H_
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#include <fstream> |
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#include <messages/set_motors.h> |
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#include <messages/query_motors.h> |
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#define QUEUE_SIZE 10 |
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/** @brief Initialize the motors module and driver. **/
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int main(int argc, char **argv); |
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/** @brief Responds to topic to set motor speeds and configs. **/
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void motors_set(const messages::set_motors::ConstPtr& msg); |
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/** @brief Responds to service to query motor speeds. **/
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bool motors_query(messages::query_motors::Request &req,
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messages::query_motors::Response &res); |
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class Motor |
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{ |
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public:
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Motor(int pwm_gpt, int in1_gpio, int in2_gpio); |
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~Motor(); |
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int get_speed();
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void set_speed(int speed); |
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private:
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int speed; /**< The current speed of the motor */ |
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std::fstream fpwm; /**< The device file controlling PWM */
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std::fstream fin1; /**< The device file controlling IN1 */
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std::fstream fin2; /**< The device file controlling IN2 */
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}; |
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#endif
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