Revision 560d2317
| ID | 560d231775789e9cd435c6d85515171a9375c811 |
Added forward/backward support to motors node
| scout/motors/src/motors.h | ||
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* @author Colony Project, CMU Robotics Club |
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* @author Benjamin Wasserman |
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* @author Alex Zirbel |
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* @author Tom Mullins |
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**/ |
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#ifndef _MOTORS_H_ |
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#define _MOTORS_H_ |
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#include <fstream> |
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#include <motors/set_motors.h> |
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#include <motors/query_motors.h> |
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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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class Motor |
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{
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public: |
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Motor(const char* pwmfile, const char* in1file, const char* in2file); |
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int get_speed(); |
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void set_speed(int speed); |
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private: |
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int speed; /**< The current speed of the motor */ |
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std::fstream fpwm; /**< The device file controlling PWM */ |
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std::fstream fin1; /**< The device file controlling IN1 */ |
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std::fstream fin2; /**< The device file controlling IN2 */ |
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}; |
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#endif |
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