Colony » Colony Scout

Revision cc558a8d

Modified the Behaviors to take a scoutname.

Scoutname now specifies which scout the behavior will affect. Scoutname must be passed to the constructors of each control module (some of which are now in need of modification), so that they can publish to the correct topic.

I also modified the constants file so that it is no longer exported. We should consider making this a full class with static exported functions (or a namespace).

 *

 * @param which A bitmask that will specify which motor speed should be

 *  returned

 * @return The speed of the selected motor, or LIB_ERR if no motor selected

 * @return The speed of the selected motor

 */

float MotorControl::query(int which)

{

            case MOTOR_BR:

                return srv.response.br_speed;

            default:

                ROS_WARN("Bad WHICH in motors_query.");

                return LIB_ERROR;

                /// @todo: I hate this. Let's fix it soon.

                ROS_FATAL("Bad WHICH in motors_query.");

        }

    }

    else

    {

        ROS_ERROR("Failed to call service query_motors");

        return LIB_ERROR;

        ROS_FATAL("Failed to call service query_motors");

    }

    return 0;

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