Revision 5d0687a9
| ID | 5d0687a9991d806c94fc7c21405334e6717e3611 |
Small changes to wireless, and starting turning with line following.
| scout/libscout/src/WirelessSender.cpp | ||
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| 40 | 40 |
using namespace std; |
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using namespace ::messages; |
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WirelessSender::WirelessSender(uint16_t type, uint16_t dest, uint16_t pan, |
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uint16_t channel) |
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WirelessSender::WirelessSender(const ros::NodeHandle& libscout_node, |
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uint16_t type, uint16_t pan, uint16_t channel) |
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: node(libscout_node) |
|
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{
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packet.type = type; |
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packet.dest = dest; |
|
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packet.pan = pan; |
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packet.channel = channel; |
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pub = nh.advertise< ::messages::WirelessPacket>("/wireless/send",
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QUEUE_SIZE); |
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pub = node.advertise< ::messages::WirelessPacket>("/wireless/send",
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QUEUE_SIZE);
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} |
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|
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void WirelessSender::setType(uint16_t type) |
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{
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packet.type = type; |
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} |
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void WirelessSender::setDest(uint16_t dest) |
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{
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packet.dest = dest; |
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} |
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void WirelessSender::setPan(uint16_t pan) |
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{
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packet.pan = pan; |
| ... | ... | |
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packet.channel = channel; |
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} |
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void WirelessSender::send(uint8_t data[], int length) |
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void WirelessSender::send(uint8_t data[], int length, uint16_t dest)
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{
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packet.dest = dest; |
|
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packet.data.clear(); |
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for (int i = 0; i < length; i++) |
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{
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packet.data.push_back(data[i]); |
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} |
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publish();
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pub.publish(packet);
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} |
| 80 | 77 |
|
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void WirelessSender::send(vector<uint8_t>& data) |
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void WirelessSender::send(vector<uint8_t>& data, uint16_t dest)
|
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{
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packet.dest = dest; |
|
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packet.data = data; |
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publish(); |
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} |
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|
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void WirelessSender::publish() |
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{
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pub.publish(packet); |
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} |
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