scoutos / scout / libscout / src / EncodersControl.cpp @ 7b5ea072
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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 EncodersControl.cpp
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* @brief Contains encoder function implementation
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*
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* @author Colony Project, CMU Robotics Club
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* @author Alex Zirbel
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*/
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#include "EncodersControl.h" |
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using namespace std; |
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/**
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* @brief Initialize the encoders module of libscout.
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*/
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EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node,
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string scoutname)
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: node(libscout_node) |
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{ |
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query_client = node.serviceClient< ::messages::query_encoders>( |
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scoutname+"/query_encoders");
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reset_client = node.serviceClient< ::messages::reset_encoders>( |
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scoutname+"/reset_encoders");
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} |
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/**
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* @brief Returns the current tick count of the encoders.
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*/
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encoder_readings EncodersControl::query() |
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{ |
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// Set scan range
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::messages::query_encoders srv; |
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encoder_readings cur_readings; |
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if (!query_client.call(srv))
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{ |
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ROS_ERROR("EncodersControl query failed.");
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} |
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cur_readings.fl_ticks = srv.response.fl_distance; |
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cur_readings.fr_ticks = srv.response.fr_distance; |
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cur_readings.bl_ticks = srv.response.bl_distance; |
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cur_readings.br_ticks = srv.response.br_distance; |
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return cur_readings;
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} |
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/**
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* @brief Resets the encoder tick count to 0.
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*/
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void EncodersControl::reset()
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{ |
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::messages::reset_encoders srv; |
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if (!reset_client.call(srv))
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{ |
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ROS_ERROR("EncodersControl reset failed.");
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} |
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} |