scoutos / scout / encoders / src / encoders.h @ c492be62
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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 encoders.h
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* @brief Contains encoder declarations and functions
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*
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* Contains functions and definitions for the use of
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* encoders.
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*
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* @author Colony Project, CMU Robotics Club
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**/
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#ifndef _ENCODERS_H_
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#define _ENCODERS_H_
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#include "encoders/query_encoders.h" |
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#include "encoders/encoders_state.h" |
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#define ENCODERS_TICKS 't' |
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#define ENCODERS_MM 'm' |
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#define ENCODERS_CM 'c' |
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#define ENCODERS_DEG 'd' |
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#define NUM_TICKS 100 |
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#define WHEEL_RADIUS_MM 20 |
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#define PI 3.14159265 |
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/** @brief Initialize the encoders module and driver **/
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int main(int argc, char **argv); |
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/** @brief Responds to topic to get encoder state **/
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void encoder_set_mode(const encoders::encoders_state::ConstPtr& msg); |
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/** @brief Publishes encoder state **/
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void encoders_state_publish();
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/** @brief Responds to service to query encoder data **/
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bool encoders_query(encoders::query_encoders::Request &req,
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encoders::query_encoders::Response &res); |
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/** @brief Converts encoder values to selected units **/
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int encoders_ticks_to_units(int ticks, char units); |
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#endif
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