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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/motors/srv/query_motors.srv
1
int8 units
2 1
---
3 2
int8 fl_speed
4 3
int8 fr_speed

Also available in: Unified diff