/ - Diff - Colony Scout - Robotics Club

Revision dbbad8ed

Added a reset() function to EncodersControl. Untested.

      * @{
      **/
     #include <fstream>
     #include <ros/ros.h>
     #include "encoders.h"
-...
     int Encoder::get_ticks()
+    {
         // open device file
         fticks.open(filename, std::ios::in);
         std::fstream fticks(filename, std::ios::in);
         int ticks;
         fticks >> ticks;
         fticks.close();
         return ticks;
+    }
     /**
      * @brief Resets the encoder
+     *
      * Sets the encoder's ticks value back to 0
      */
     void Encoder::reset()
+    {
         std::fstream fticks(filename, std::ios::out);
         fticks << 0;
+    }
     /**
      * @brief Outputs current encoder data
+     *
      * Serves the service query_encoders by responding to service requests with the
-...
+    }
     /**
      * @brief Resets all four encoders
+     *
      * Serves the service reset_encoders
      * @param req The request. Empty.
      * @param res The response. Empty.
      */
     bool handle_reset_query(::messages::reset_encoders::Request &req,
                             ::messages::reset_encoders::Response &res)
+    {
         encoder_fl.reset();
         encoder_fr.reset();
         encoder_bl.reset();
         encoder_br.reset();
         return true;
+    }
     /**
      * @brief Encoders driver. This is a ROS node that controls encoders.
+     *
      * This is the main function for the encoders node. It is run when the node

     #ifndef _ENCODERS_H_
     #define _ENCODERS_H_
     #include <fstream>
     #include <messages/query_encoders.h>
     #include <messages/reset_encoders.h>
     class Encoder
+    {
         public:
             Encoder(int n);
             int get_ticks();
             void reset();
         private:
             char filename[60];
             std::fstream fticks; /**< The file in sysfs containing tick count */
     };
     int main(int argc, char **argv);

                                      string scoutname)
         : node(libscout_node)
+    {
         query_client =
             node.serviceClient< ::messages::query_encoders>(scoutname+"/query_encoders");
         query_client = node.serviceClient< ::messages::query_encoders>(
                 scoutname+"/query_encoders");
         reset_client = node.serviceClient< ::messages::reset_encoders>(
                 scoutname+"/reset_encoders");
+    }
     /**
-...
         return cur_readings;
+    }
     /**
      * @brief Resets the encoder tick count to 0.
      */
     void EncodersControl::reset()
+    {
         ::messages::reset_encoders srv;
         if (!reset_client.call(srv))
+        {
             ROS_ERROR("EncodersControl reset failed.");
+        }
+    }

     #include <ros/ros.h>
     #include <messages/query_encoders.h>
     #include <messages/reset_encoders.h>
     #include "constants.h"
-...
             /** Use ROS to get the current encoder position. */
             encoder_readings query();
             /** User ROS to reset the encoder count. */
             void reset();
         private:
             /* ROS publisher and client declaration */
             ros::ServiceClient query_client;
             ros::ServiceClient reset_client;
             ros::NodeHandle node;
     };

scout/messages/srv/reset_encoders.srv
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