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Revision 5d0687a9

ID5d0687a9991d806c94fc7c21405334e6717e3611

Added by Priya about 7 years ago

Small changes to wireless, and starting turning with line following.

View differences:

scout/libscout/src/WirelessSender.h
31 31
 * Contains functions and definitions for the use of
32 32
 * XBee wireless
33 33
 *
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 * Uses the dest field of the wireless packet to specify which
35
 * scout the message is intended for, or SCOUT_ALL to send to
36
 * all scouts
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 *
34 38
 * @author Colony Project, CMU Robotics Club
35 39
 * @author Tom Mullins
36 40
 **/
......
43 47
#include "messages/WirelessPacket.h"
44 48
#include "constants.h"
45 49

  
50
/// A macro to allow sending to all the scouts.
51
#define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)
52

  
46 53
class WirelessSender
47 54
{
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    public:
49
        WirelessSender(uint16_t type = 0,
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                uint16_t dest = messages::WirelessPacket::DEST_BROADCAST,
56
        WirelessSender(const ros::NodeHandle& libscout_node,
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                uint16_t type = 0,
51 58
                uint16_t pan = messages::WirelessPacket::PAN_DEFAULT,
52 59
                uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT);
53 60
        
54 61
        void setType(uint16_t type);
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        void setDest(uint16_t dest);
56 62
        void setPan(uint16_t pan);
57 63
        void setChannel(uint16_t channel);
58 64
        
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        void send(uint8_t data[], int length);
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        void send(std::vector<uint8_t>& data);
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        void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL);
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        void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);
61 67
        
62 68
    private:
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        ros::NodeHandle nh;
69
        ros::NodeHandle node;
64 70
        ros::Publisher pub;
65 71
        messages::WirelessPacket packet;
66
        
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        void publish();
68 72
};
69 73

  
70 74
#endif

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