Revision 572adceb
| ID | 572adceb0cf28fd95b170901a03524c93d9a3580 |
Fixed the analog node.
Only a couple small changes were needed here. For the most part, good job Dev - looks like this is set up correctly for a skeleton. Changes were debugging only.
| scout/analog/src/analog.cpp | ||
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* @author Dev Gurjar |
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**/ |
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#include "ros/ros.h" |
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#include <ros/ros.h> |
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#include "analog.h" |
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//#include "libscout/src/constants.h" |
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#include <cstdlib> |
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/** |
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* @defgroup analog Analog |
| ... | ... | |
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/** @todo Fix types: static */ |
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unsigned int port; /**< The current port from which we are reading from. */ |
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/** |
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* @brief Outputs current analog data at a given port |
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* |
| ... | ... | |
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* @param req The request. The only field is the units requested. |
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* @param res The response. The fields will be filled with values. |
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*/ |
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bool analog_query(motors::query_analog::Request &req,
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motors::query_analog::Response &res)
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bool analog_query(analog::query_analog::Request &req,
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analog::query_analog::Response &res)
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{
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int port = port; |
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int port = req.port;
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res.sensor_data = get_sensor_data(port); |
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ROS_DEBUG("Analog data queried");
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| ... | ... | |
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* |
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* @param port The port we want to read from |
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*/ |
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unsigned int get_sensor_data(int port){
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ROS_DEBUG("Got Analog data from the sensor");
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unsigned int get_sensor_data(int port) |
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{
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ROS_DEBUG("Got Analog data from the sensor [Unimplemented]");
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return 0; |
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} |
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/** |
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* @brief Motors driver. This is a ROS node that controls motor speeds. |
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* |
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* This is the main function for the motors node. It is run when the node |
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* starts and initializes the motors. It then subscribes to the |
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* set_motors, and set_motor_speeds topics, and advertises the |
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* query_motors service. |
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* |
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* @param argc The number of command line arguments (should be 1) |
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* @param argv The array of command line arguments |
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**/ |
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* @brief Analog driver. Provides an interface to read data from analog ports. |
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*/ |
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int main(int argc, char **argv) |
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{
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/* Initialize in ROS the motors driver node */ |
| ... | ... | |
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ros::ServiceServer service = n.advertiseService("query_analog",
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analog_query); |
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/* Initialize hardware for motors */ |
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/* Initialize hardware for analog */ |
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// Hardware init functions here |
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ros::spin(); |
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