Revision 15b7e607
| ID | 15b7e607c9ec3704c7866011e2536b0f000777c4 |
Chaned libscout sonar code so that it turned sonar on and off when necessary.
| scout/libscout/src/SonarControl.cpp | ||
|---|---|---|
| 72 | 72 |
*/ |
| 73 | 73 |
void SonarControl::set_range(int start_pos, int end_pos) |
| 74 | 74 |
{
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//TODO Enable some checks of start and end position |
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/** Turn sonar on */ |
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sonar::sonar_toggle on_msg; |
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on_msg.set_on = true; |
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sonar_toggle_pub.publish(on_msg); |
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|
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/** Set scan range */ |
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| 76 | 81 |
sonar::sonar_set_scan msg; |
| 77 | 82 |
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//TODO Enable some checks of start and end position |
|
| 78 | 84 |
msg.stop_l = start_pos; |
| 79 | 85 |
msg.stop_r = end_pos; |
| 80 | 86 |
|
| ... | ... | |
| 83 | 89 |
} |
| 84 | 90 |
|
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/** |
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* @brief Turn off sonar readings |
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* |
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* Stops sonar from panning and taking readings. |
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* |
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* @return NONE |
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*/ |
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float SonarControl::set_off() |
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{
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/** Turn sonar off */ |
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sonar::sonar_toggle on_msg; |
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on_msg.set_on = false; |
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sonar_toggle_pub.publish(on_msg); |
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} |
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/** |
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* @brief Query the current front sonar readings |
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* |
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* Sends a request to the query_sonar service which will reply with the |
| scout/libscout/src/SonarControl.h | ||
|---|---|---|
| 52 | 52 |
void set(int position); |
| 53 | 53 |
|
| 54 | 54 |
/** Sets sonar to scan a range in 0-180 specified by input */ |
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void set_range(int start_pos, int end_pos); |
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void set_range(int start_pos, int end_pos); |
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|
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/** Stops sonar from panning and taking readings */ |
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void set_off(); |
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| 56 | 59 |
|
| 57 | 60 |
/** Returns the distance readings of sonars */ |
| 58 | 61 |
float query_front(void); |
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