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Revision a8480867

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.

 * @author Ben Wasserman

 **/

#include "ros/ros.h"

#include "motors_util.cpp"

#include "motors.h"

//#include "libscout/src/constants.h"

#include <ros/ros.h>

#include <cstdlib>

#include "motors.h"

/**

 * @defgroup motors Motors

 * @{

 **/

/* Motor state variables

 * Speeds expressed as absolute speed out of max speed (0 - +-MAXSPEED)

 * Absolute speed is the speed written to the hardware to move the motors

{

    if(msg->fl_set)

    {

      motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units);

      motor_fl_speed = msg->fl_speed;

    }

    if(msg->fr_set)

    {

      motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units);

      motor_fr_speed = msg->fr_speed;

    }

    if(msg->bl_set)

    {

      motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units);

      motor_bl_speed = msg->bl_speed;

    }

    if(msg->br_set)

    {

      motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units);

      motor_br_speed = msg->br_speed;

    }

    /** @todo Add code to write speeds to hardware */

    ROS_DEBUG("Motor speeds set");

}

bool motors_query(motors::query_motors::Request &req,

                  motors::query_motors::Response &res)

{

    int units = req.units;

    res.fl_speed = motors_abs_to_rel(motor_fl_speed, units);

    res.fr_speed = motors_abs_to_rel(motor_fr_speed, units);

    res.bl_speed = motors_abs_to_rel(motor_bl_speed, units);

    res.br_speed = motors_abs_to_rel(motor_br_speed, units);

    /** @todo Are we checking hardware or just using the saved values?

     *  Saved values sound fine to me (Alex). Pleas confirm. */

    res.fl_speed = motor_fl_speed;

    res.fr_speed = motor_fr_speed;

    res.bl_speed = motor_bl_speed;

    res.br_speed = motor_br_speed;

    ROS_DEBUG("Motor speeds queried");

    return true;

}

    /* Initialize hardware for motors */

    // Hardware init functions here

    ROS_INFO("Ready to set motors.");

    ROS_INFO("Motors node ready.");

    ros::spin();

    return 0;

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