Revision a739cdbd
ID | a739cdbdf1aa1f24659aae5e11d1401087cfcd65 |
Temporary, possibly broken, commit to add EncodersControl.
Sorry - my ros build is broken. I will immediately debug on Priya's machine.
scout/libscout/CMakeLists.txt | ||
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29 | 29 |
#rosbuild_add_executable(example examples/example.cpp) |
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#target_link_libraries(example ${PROJECT_NAME}) |
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rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp) |
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rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp)
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33 | 33 |
rosbuild_add_executable(test_encoders src/test_encoders.cpp) |
scout/libscout/src/Behavior.cpp | ||
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54 | 54 |
buttons = new ButtonControl(node, scoutname); |
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sonar = new SonarControl(node, scoutname); |
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cliffsensor = new CliffsensorControl(node, scoutname); |
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encoders = new EncodersControl(node, scoutname); |
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57 | 58 |
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58 | 59 |
loop_rate = new ros::Rate(10); |
59 | 60 |
} |
scout/libscout/src/Behavior.h | ||
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44 | 44 |
#include "ButtonControl.h" |
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#include "SonarControl.h" |
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#include "CliffsensorControl.h" |
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#include "EncodersControl.h" |
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47 | 48 |
#include "constants.h" |
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class Behavior |
... | ... | |
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ButtonControl * buttons; |
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SonarControl * sonar; |
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CliffsensorControl * cliffsensor; |
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EncodersControl * encoders; |
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// Wrappers for ROS functions |
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bool ok(); |
scout/libscout/src/EncodersControl.cpp | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/** |
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* @file EncodersControl.cpp |
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* @brief Contains encoder function implementation |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Alex Zirbel |
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*/ |
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#include "SonarControl.h" |
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using namespace std; |
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/** |
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* @brief Initialize the encoders module of libscout. |
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*/ |
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EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node, |
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string scoutname) |
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: node(libscout_node) |
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{ |
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query_client = |
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node.serviceClient<encoders::query_encoders>(scoutname+"/query_encoders"); |
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} |
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/** |
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* @brief Returns the current tick count of the encoders. |
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*/ |
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encoder_readings EncodersControl::query() |
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{ |
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// Set scan range |
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encoders::query_encoders srv; |
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encoders_readings cur_readings; |
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if (!query_client.call(srv)) |
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{ |
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ROS_ERROR("EncodersControl query failed."); |
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} |
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cur_readings.fl_ticks = srv.response.fl_distance; |
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cur_readings.fr_ticks = srv.response.fr_distance; |
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cur_readings.bl_ticks = srv.response.bl_distance; |
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cur_readings.br_ticks = srv.response.br_distance; |
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return cur_readings; |
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} |
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scout/libscout/src/EncodersControl.h | ||
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1 |
/** |
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* Copyright (c) 2011 Colony Project |
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3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
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12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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|
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/** |
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* @file EncodersControl.h |
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* @brief Contains encoder declarations and functions |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Alex Zirbel |
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**/ |
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#ifndef _SONAR_CONTROL_H_ |
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#define _SONAR_CONTROL_H_ |
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#include <ros/ros.h> |
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#include <encoders/query_encoders.h> |
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#include "constants.h" |
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typedef struct encoder_readings |
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{ |
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unsigned int fl_distance; |
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unsigned int fr_distance; |
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unsigned int bl_ticks; |
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unsigned int br_ticks; |
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} encoder_readings; |
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|
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class EncodersControl |
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{ |
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public: |
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/** Set up the encoders class and prepare to communicate over ROS */ |
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EncodersControl(const ros::NodeHandle& libscout_node, |
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std::string scoutname); |
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/** Use ROS to get the current encoder position. */ |
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void query(); |
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private: |
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/* ROS publisher and client declaration */ |
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ros::ServiceClient query_client; |
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ros::NodeHandle node; |
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}; |
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#endif |
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|
scout/libscout/src/behaviors/draw_cw_circle.cpp | ||
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31 | 31 |
{ |
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motors->set_sides(20, 80, MOTOR_ABSOLUTE); |
33 | 33 |
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encoder_readings readings = encoders->query(); |
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ROS_INFO("Encoders: %d %d %d %d", readings.fl_ticks, readings.fr_ticks, readings.bl_ticks, readings.br_ticks); |
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spinOnce(); |
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loop_rate->sleep(); |
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} |
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