scoutos / scout / libscout / src / libmotors.cpp @ c406f16b
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/**
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* Copyright (c) 2007 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 libmotors.cpp
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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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**/
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/* Author: Ben Wasserman
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*/
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#include "libmotors.h" |
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void libmotors_init(){
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set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10); |
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query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors");
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} |
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int motors_set(int speed, int which){ |
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/** \todo Set fields of the message based on params */
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if(!ros::ok()){
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return LIB_ERROR;
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} |
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motors::set_motors msg; |
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msg.fl_speed = speed; |
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msg.fr_speed = speed; |
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msg.bl_speed = speed; |
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msg.br_speed = speed; |
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// set_motors_publisher.publish(msg);
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ros::spinOnce(); |
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return LIB_OK;
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} |
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int motors_speed_set(int speed, int which){ |
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return LIB_OK;
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} |
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int motors_query(int which){ |
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motors::query_motors srv; |
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if(query_motors_client.call(srv)){
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switch(which){
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case MOTOR_FL:
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return srv.response.fl_speed;
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case MOTOR_FR:
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return srv.response.fr_speed;
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case MOTOR_BL:
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return srv.response.bl_speed;
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case MOTOR_BR:
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return srv.response.br_speed;
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default:{
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ROS_WARN("Bad WHICH in motors_query.");
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return LIB_ERROR;
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} |
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} |
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}else{
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ROS_ERROR("Failed to call service query_motors");
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return LIB_ERROR;
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} |
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return 0; |
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} |