root / scout / motors / src / motors.h @ 14736c0c
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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 motors.h
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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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* @author Benjamin Wasserman
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**/
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#ifndef _MOTORS_H_
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#define _MOTORS_H_
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#include "motors/query_motors.h" |
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#include "motors/set_motors.h" |
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#define MAXSPEED 512 |
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#define MOTOR_ALL 0xF |
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#define MOTOR_ALL_REV 0xF0 |
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#define MOTOR_NONE 0x0 |
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#define MOTOR_FL 0x8 |
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#define MOTOR_FR 0x4 |
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#define MOTOR_BL 0x2 |
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#define MOTOR_BR 0x1 |
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#define MOTOR_FL_REV 0x80 |
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#define MOTOR_FR_REV 0x40 |
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#define MOTOR_BL_REV 0x20 |
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#define MOTOR_BR_REV 0x10 |
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#define MOTOR_FRONT MOTOR_FL | MOTOR_FR
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#define MOTOR_BACK MOTOR_BR | MOTOR_BR
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#define MOTOR_LEFT MOTOR_FL | MOTOR_BL
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#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR
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#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV
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#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV
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#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
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#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
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#define MOTOR_PERCENT 'p' |
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#define MOTOR_MMS 'm' |
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#define MOTOR_CMS 'c' |
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#define MOTOR_ABSOLUTE 'a' |
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/* The number of messages in the queue. If messages arrive faster than they are
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* handled, old ones are thrown out */
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#define QUEUE_SIZE 4 |
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/** @brief Initialize the motors module and driver. **/
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int main(int argc, char **argv); |
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/** @brief Responds to topic to set motor speeds and configs. **/
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void motors_set(const motors::set_motors::ConstPtr& msg); |
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/** @brief Responds to service to query motor speeds. **/
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bool motors_query(motors::query_motors::Request &req,
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motors::query_motors::Response &res); |
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/** @brief Converts speeds from speeds in units to absolute speeds. **/
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int motors_rel_to_abs(int rel_speed, int units); |
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/** @brief Converts speeds from absolute speeds to speeds in units. **/
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int motors_abs_to_rel(int rel_speed, int units); |
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#endif
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