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Revision a8480867

IDa84808670408804bf5ce08741a3b59130351928f

Added by Alex Zirbel over 12 years ago

Made a lot of changes to the general structure.

Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:

  • All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
  • Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
  • Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.

A few formatting changes:

  • Comments should end with / always, not */
  • Use @ instead of \
  • No double newlines.

The motors node is revamped and pretty much correct at this point.

View differences:

scout/libscout/CMakeLists.txt
29 29
#rosbuild_add_executable(example examples/example.cpp)
30 30
#target_link_libraries(example ${PROJECT_NAME})
31 31

  
32
rosbuild_add_executable(libscout_node src/behavior.cpp src/libscout.cpp src/libmotors.cpp src/libheadlights.cpp src/libbuttons.cpp)
32
#rosbuild_add_executable(libscout_node src/behavior.cpp src/libscout.cpp src/libmotors.cpp src/libheadlights.cpp src/libbuttons.cpp)
33
rosbuild_add_executable(alex_behavior src/alex_behavior.cpp src/libscout.h src/MotorControl.cpp src/HeadlightControl.cpp)

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