Colony » Colony Scout » Colony Scout OS

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 Colony Project, CMU Robotics Club

 * @author Benjamin Wasserman

 * @author Alex Zirbel

 **/

#ifndef _MOTORS_H_

#define _MOTORS_H_

#include "motors/query_motors.h"

#include "motors/set_motors.h"

#define MAXSPEED 255

#define MOTOR_PERCENT 'p'

#define MOTOR_MMS 'm'

#define MOTOR_CMS 'c'

#define MOTOR_ABSOLUTE 'a'

/* The number of messages in the queue. If messages arrive faster than they are

 * handled, old ones are thrown out */

#define QUEUE_SIZE 4

#include <motors/set_motors.h>

#include <motors/query_motors.h>

#define QUEUE_SIZE 10

/** @brief Initialize the motors module and driver. **/

int main(int argc, char **argv);

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