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Revision a8480867

IDa84808670408804bf5ce08741a3b59130351928f
Parent 2814387f
Child 42e8c915

Added by Alex Zirbel over 12 years ago

Made a lot of changes to the general structure.

Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:

  • All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
  • Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
  • Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.

A few formatting changes:

  • Comments should end with / always, not */
  • Use @ instead of \
  • No double newlines.

The motors node is revamped and pretty much correct at this point.

View differences:

scout/scoutsim/CMakeLists.txt
32 32 
rosbuild_link_boost(scoutsim_node thread)
33 33 
target_link_libraries(scoutsim_node ${wxWidgets_LIBRARIES})
34 34 

  		




  
  35
  
    

  		




  
  36
  
    
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)


  		




  
  37
  
    
include_directories(${MOTORS_INCLUDE_DIRS})


  		




  
  38
  
    
link_directories(${MOTORS_LIBRARY_DIRS})


  		




  
  39
  
    
target_link_libraries(scoutsim_node ${MOTORS_LIBRARIES})


  		




  
  40
  
    

  		




  
  41
  
    
target_link_libraries(scoutsim_node motors)


  		




  
  42
  
    

  		




  35
  43
  
    
# @TODO are these useful or necessary? Determine; add as needed


  		




  36
  44
  
    
#rosbuild_add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)


  		




  37
  45
  
    
#rosbuild_add_executable(draw_square tutorials/draw_square.cpp)


  		












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