/scout/encoders/src/encoders.cpp - 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

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