/scout/motors/src/motors.cpp - Diff - Colony Scout OS - Robotics Club

Revision 18e2028b

ID	18e2028bdd878470a70059c3db813b40d143cf52
Child	ad0e9d48

Added by Alex Zirbel over 12 years ago

Updated motors.cpp and motors.h to comply with coding standards and doxygen.

Changed the module comments so motors are properly labeled as a the motor module.
Chaned indentation to four spaces.
Put braces on a new line.

      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file motors.cpp
      * @brief Motors
      * @brief Contains code to control the motors.
+     *
      * Implementation of functions for motor use.
+     *
-...
      * @defgroup motors Motors
      * @brief Functions for using the motors
+     *
      * @{
      **/
     /* Motor state variables */
     /** \todo Fix types: static */
     /** @todo Fix types: static */
     int motor_fl_speed; /**< The current speed of the front left motor. */
     int motor_fr_speed; /**< The current speed of the front right motor. */
     int motor_bl_speed; /**< The current speed of the back left motor. */
     int motor_br_speed; /**< The current speed of the back right motor. */
     /*!
      * \brief Motors driver. This is a ROS node that controls motor speeds.
+     *
      * This is the main function for the motors node. It is run when the node
      * starts and initializes the motors. It then subscribes to the
      * set_motors, and set_motor_speeds topics, and advertises the
      * query_motors service.
+     *
      * \param argc The number of command line arguments (should be 1)
      * \param argv The array of command line arguments
      **/
     int main(int argc, char **argv){
       /* Initialize in ROS the motors driver node */
       ros::init(argc, argv, "motors_driver");
       /* Advertise that this serves the query_motors service */
       ros::NodeHandle n;
       ros::ServiceServer service = n.advertiseService("query_motors", motors_query);
       /* Subscribe to the set_motors topic */
       ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set);
       /* Initialize hardware for motors */
       // Hardware init functions here
       ROS_INFO("Ready to set motors.");
       ros::spin();
       return 0;
+    }
     /*!
      * \brief Sets motor speed
     /**
      * @brief Sets motor speed
+     *
      * Sets the motor speeds based on subscription to the set_motors topic.
+     *
      * \param msg The message from the set_motors topic, containing speeds and
      * @param msg The message from the set_motors topic, containing speeds and
      *  motor configuration settings.
      */
     void motors_set(const motors::set_motors::ConstPtr& msg){
       /** \todo Edit to only set requested motors, not all */
       motor_fl_speed = msg->fl_speed;
       motor_fr_speed = msg->fr_speed;
       motor_bl_speed = msg->bl_speed;
       motor_br_speed = msg->br_speed;
     void motors_set(const motors::set_motors::ConstPtr& msg)
+    {
         /** @todo Edit to only set requested motors, not all */
         motor_fl_speed = msg->fl_speed;
         motor_fr_speed = msg->fr_speed;
         motor_bl_speed = msg->bl_speed;
         motor_br_speed = msg->br_speed;
+    }
     /*!
      * \brief Outputs current motor speeds
     /**
      * @brief Outputs current motor speeds
+     *
      * Serves the service query_motors by responding to service requests with the
      * speeds of the motors.
      * \param req The request. Should be empty.
      * \param res The response. The fields will be filled with values.
      * @param req The request. Should be empty.
      * @param res The response. The fields will be filled with values.
      */
     bool motors_query(motors::query_motors::Request &req,
         motors::query_motors::Response &res){
       res.fl_speed = motor_fl_speed;
       res.fr_speed = motor_fr_speed;
       res.bl_speed = motor_bl_speed;
       res.br_speed = motor_br_speed;
                       motors::query_motors::Response &res)
+    {
         res.fl_speed = motor_fl_speed;
         res.fr_speed = motor_fr_speed;
         res.bl_speed = motor_bl_speed;
         res.br_speed = motor_br_speed;
         ROS_DEBUG("Motor speeds queried");
         return true;
+    }
     /**
      * @brief Motors driver. This is a ROS node that controls motor speeds.
+     *
      * This is the main function for the motors node. It is run when the node
      * starts and initializes the motors. It then subscribes to the
      * set_motors, and set_motor_speeds topics, and advertises the
      * query_motors service.
+     *
      * @param argc The number of command line arguments (should be 1)
      * @param argv The array of command line arguments
      **/
     int main(int argc, char **argv)
+    {
         /* Initialize in ROS the motors driver node */
         ros::init(argc, argv, "motors_driver");
         /* Advertise that this serves the query_motors service */
         ros::NodeHandle n;
         ros::ServiceServer service = n.advertiseService("query_motors",
                                                         motors_query);
         /* Subscribe to the set_motors topic */
         ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set);
         /* Initialize hardware for motors */
         // Hardware init functions here
         ROS_INFO("Ready to set motors.");
         ros::spin();
       ROS_DEBUG("Motor speeds queried");
       return true;
         return 0;
+    }
     /** @} **/

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