scoutos / scout / libscout / src / libmotors.cpp @ c406f16b
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1 | c406f16b | Ben | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file libmotors.cpp
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29 | * @brief Contains motor declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * motors
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | **/
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36 | |||
37 | /* Author: Ben Wasserman
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38 | */
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39 | |||
40 | #include "libmotors.h" |
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41 | |||
42 | void libmotors_init(){
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43 | set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10); |
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44 | query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors");
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45 | } |
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46 | |||
47 | int motors_set(int speed, int which){ |
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48 | /** \todo Set fields of the message based on params */
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49 | |||
50 | if(!ros::ok()){
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51 | return LIB_ERROR;
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52 | } |
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53 | |||
54 | motors::set_motors msg; |
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55 | msg.fl_speed = speed; |
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56 | msg.fr_speed = speed; |
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57 | msg.bl_speed = speed; |
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58 | msg.br_speed = speed; |
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59 | |||
60 | // set_motors_publisher.publish(msg);
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61 | ros::spinOnce(); |
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62 | |||
63 | return LIB_OK;
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64 | } |
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65 | |||
66 | int motors_speed_set(int speed, int which){ |
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67 | return LIB_OK;
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68 | } |
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69 | |||
70 | int motors_query(int which){ |
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71 | motors::query_motors srv; |
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72 | if(query_motors_client.call(srv)){
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73 | switch(which){
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74 | case MOTOR_FL:
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75 | return srv.response.fl_speed;
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76 | case MOTOR_FR:
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77 | return srv.response.fr_speed;
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78 | case MOTOR_BL:
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79 | return srv.response.bl_speed;
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80 | case MOTOR_BR:
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81 | return srv.response.br_speed;
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82 | default:{
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83 | ROS_WARN("Bad WHICH in motors_query.");
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84 | return LIB_ERROR;
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85 | } |
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86 | } |
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87 | }else{
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88 | ROS_ERROR("Failed to call service query_motors");
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89 | return LIB_ERROR;
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90 | } |
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91 | |||
92 | return 0; |
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93 | } |