Revision 3ec16d35
| ID | 3ec16d3529c3e4c1c67dd4d237dab32831006676 |
Fixed bugs I saw in headlights code. Fixed object parameter missing error. Added no-set capability to headlights. Changed attribution in motors. Fixed CMakeLists.txt due to error I put in there on my last commit (extra comma). Should compile now. I'm sorry if it doesn't.
| scout/headlights/msg/set_headlights.msg | ||
|---|---|---|
| 1 | 1 |
Header header |
| 2 |
int8 left_red |
|
| 3 |
int8 left_green |
|
| 4 |
int8 left_blue |
|
| 5 |
int8 right_red |
|
| 6 |
int8 right_green |
|
| 7 |
int8 right_blue |
|
| 2 |
int16 left_red |
|
| 3 |
int16 left_green |
|
| 4 |
int16 left_blue |
|
| 5 |
int16 right_red |
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| 6 |
int16 right_green |
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| 7 |
int16 right_blue |
|
| scout/libscout/CMakeLists.txt | ||
|---|---|---|
| 29 | 29 |
#rosbuild_add_executable(example examples/example.cpp) |
| 30 | 30 |
#target_link_libraries(example ${PROJECT_NAME})
|
| 31 | 31 |
|
| 32 |
rosbuild_add_executable(libscout_node src/behavior.cpp src/libscout.cpp src/libmotors.cpp) |
|
| 32 |
rosbuild_add_executable(libscout_node src/behavior.cpp src/libscout.cpp src/libmotors.cpp src/libheadlights.cpp) |
|
| scout/libscout/src/libheadlights.cpp | ||
|---|---|---|
| 96 | 96 |
|
| 97 | 97 |
if(which & HL_LEFT) |
| 98 | 98 |
{
|
| 99 |
left_red = red; |
|
| 100 |
left_green = green; |
|
| 101 |
left_blue = blue; |
|
| 99 |
msg.left_red = red; |
|
| 100 |
msg.left_green = green; |
|
| 101 |
msg.left_blue = blue; |
|
| 102 |
} |
|
| 103 |
else |
|
| 104 |
{
|
|
| 105 |
msg.left_red = NO_SET; |
|
| 106 |
msg.left_green = NO_SET; |
|
| 107 |
msg.left_blue = NO_SET; |
|
| 102 | 108 |
} |
| 103 | 109 |
if(which & HL_RIGHT) |
| 104 | 110 |
{
|
| 105 |
right_red = red; |
|
| 106 |
right_green = green; |
|
| 107 |
right_blue = blue; |
|
| 111 |
msg.right_red = red; |
|
| 112 |
msg.right_green = green; |
|
| 113 |
msg.right_blue = blue; |
|
| 114 |
} |
|
| 115 |
else |
|
| 116 |
{
|
|
| 117 |
msg.right_red = NO_SET; |
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| 118 |
msg.right_green = NO_SET; |
|
| 119 |
msg.right_blue = NO_SET; |
|
| 108 | 120 |
} |
| 109 | 121 |
|
| 110 | 122 |
/* Publishes message to set_motors topic */ |
| scout/libscout/src/libheadlights.h | ||
|---|---|---|
| 56 | 56 |
#define HL_LEFT 0x2 |
| 57 | 57 |
#define HL_BOTH 0x3 |
| 58 | 58 |
|
| 59 |
#define NO_SET -1 |
|
| 60 |
|
|
| 59 | 61 |
#define REDSHIFT 16 |
| 60 | 62 |
#define GREENSHIFT 8 |
| 61 | 63 |
#define BLUESHIFT 0 |
| scout/motors/src/motors.cpp | ||
|---|---|---|
| 30 | 30 |
* Implementation of functions for motor use. |
| 31 | 31 |
* |
| 32 | 32 |
* @author Colony Project, CMU Robotics Club |
| 33 |
* @author Benjamin Wasserman
|
|
| 33 |
* @author Ben Wasserman |
|
| 34 | 34 |
**/ |
| 35 | 35 |
|
| 36 | 36 |
#include "ros/ros.h" |
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