Project

General

Profile

Revision 9c0008d0

ID9c0008d04908747e904f4af7a5819eba03b9f7f1
Parent 94a3af93
Child 95bede66, 46587b36

Added by Leon about 12 years ago

Fixed CliffsensorControl, now actually part of Behaviors

View differences:

scout/libscout/src/CliffsensorControl.h
38 38 
#ifndef _CLIFFSENSOR_H_
39 39 
#define _CLIFFSENSOR_H_
40 40 

  		




  41
  
  
    
#include "cliffsensor/query_cliff.h"


  		




  42
  
  
    
#include "cliffsensor/cliff_status_changed.h"


  		




  
  41
  
    
#include <cliffsensor/query_cliff.h>


  		




  
  42
  
    
#include <cliffsensor/cliff_status_changed.h>


  		




  
  43
  
    
#include "constants.h"


  		




  43
  44
  
    

  		




  44
  45
  
    
#define CLIFF_DETECTED 0x0


  		




  45
  46
  
    
#define NO_CLIFF 0x1


  		




  ......




  47
  48
  
    
class CliffsensorControl


  		




  48
  49
  
    
{


  		




  49
  50
  
    
    public:


  		




  50
  
  
    
        CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) ;


  		




  
  51
  
    
        CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);


  		




  51
  52
  
    

  		




  52
  53
  
    
        /** @brief Responds to topic to change cliff sensor status. **/


  		




  53
  
  
    
        void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg);


  		




  
  54
  
    
        void changed_cliff_status(


  		




  
  55
  
    
                        const cliffsensor::cliff_status_changed::ConstPtr& msg);


  		




  54
  56
  
    

  		




  55
  57
  
    
        int get_front_raw();


  		




  56
  58
  
    
        int get_left_raw();


  		




  ......




  60
  62
  
    
    private:


  		




  61
  63
  
    
        /* Cliffsensor state variables


  		




  62
  64
  
    
         */


  		




  63
  
  
    
        int front_raw; /**< The current raw value data of the front cliffsensor. */


  		




  64
  
  
    
        int left_raw; /**< The current raw value data of the left cliffsensor. */


  		




  65
  
  
    
        int right_raw; /**< The current raw value data of the right cliffsensor. */


  		




  
  65
  
    
        int front_raw; /**< The current raw value 


  		




  
  66
  
    
                        data of the front cliffsensor. */


  		




  
  67
  
    
        int left_raw; /**< The current raw value data of 


  		




  
  68
  
    
                        the left cliffsensor. */


  		




  
  69
  
    
        int right_raw; /**< The current raw value data of 


  		




  
  70
  
    
                        the right cliffsensor. */


  		




  66
  71
  
    

  		




  67
  72
  
    
        ros::Subscriber cliff_status_changed_sub;


  		




  68
  
  
    

  		




  69
  
  
    
}


  		




  
  73
  
    
        ros::NodeHandle node; 


  		




  
  74
  
    
};


  		




  70
  75
  
    

  		




  71
  76
  
    
#endif


  		












Also available in:  Unified diff