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Revision b00761a0

IDb00761a0e88f934a309a939b653d9f441b127ae8

Added by Alex Zirbel over 12 years ago

Updated ButtonControl and SonarControl.

Finally, the behavior compiles. Had to fix a lot of problems involving misunderstandings with Publisher/Client/ServiceServer/ServiceClient confusion.

We can now run priya_behavior as an executable, though the process for generating behavior executables still needs some work.

View differences:

scout/libscout/src/SonarControl.h
40 40 
#include <ros/ros.h>
41 41 
#include <sonar/sonar_set_scan.h>
42 42 
#include <sonar/sonar_toggle.h>
43 
#include <sonar/sonar_direction.h>
43 
#include <sonar/sonar_distance.h>
44 

  		




  
  45
  
    
#include "constants.h"


  		




  44
  46
  
    

  		




  45
  47
  
    
class SonarControl


  		




  46
  48
  
    
{


  		




  ......




  49
  51
  
    
        SonarControl(const ros::NodeHandle& libscout_node,


  		




  50
  52
  
    
                     std::string scoutname);


  		




  51
  53
  
    

  		




  52
  
  
    
        /** Sets sonar to a position (0-180 deg) specified by input */


  		




  
  54
  
    
        /** Sets sonar to a position (0-23) specified by input */


  		




  53
  55
  
    
        void set_single(int position);


  		




  54
  56
  
    

  		




  55
  
  
    
        /** Sets sonar to scan a range in 0-180 specified by input */


  		




  
  57
  
    
        /** Sets sonar to scan a range in 0-23 specified by input */


  		




  56
  58
  
    
        void set_range(int start_pos, int end_pos);


  		




  57
  59
  
    

  		




  
  60
  
    
        /** (Re)starts sonar panning and taking readings */


  		




  
  61
  
    
        void set_on();


  		




  
  62
  
    

  		




  58
  63
  
    
        /** Stops sonar from panning and taking readings */


  		




  59
  64
  
    
        void set_off();	


  		




  60
  
  
    
    


  		




  
  65
  
    

  		




  61
  66
  
    
    private:


  		




  62
  67
  
    
        /** Record the new sonar distance measurement */


  		




  63
  68
  
    
        void distance_callback(const sonar::sonar_distance::ConstPtr& msg);


  		




  64
  69
  
    

  		




  
  70
  
    
        /** Sends a sonar_toggle message. */


  		




  
  71
  
    
        void set_power(bool is_on);


  		




  
  72
  
    

  		




  65
  73
  
    
        /** Converts between values output by sensor and physical distances */


  		




  66
  74
  
    
        //float sonar_to_dist(float sonar_value);


  		




  67
  75
  
    
        //float dist_to_sonar(float distance);


  		




  68
  76
  
    

  		




  
  77
  
    
        /** If a service call fails, tries again this many times. */


  		




  
  78
  
    
        int num_attempts;


  		




  
  79
  
    

  		




  
  80
  
    
        /** Keep track of the latest readings and their time of receipt.


  		




  
  81
  
    
         *  Readings are in millimeters. */


  		




  
  82
  
    
        int readings[48];


  		




  
  83
  
    
        ros::Time timestamps[48];


  		




  
  84
  
    

  		




  69
  85
  
    
        /* ROS publisher and client declaration */


  		




  70
  
  
    
        ros::Publisher sonar_set_scan_pub;


  		




  71
  
  
    
        ros::Publisher sonar_toggle_pub;


  		




  
  86
  
    
        ros::ServiceClient sonar_set_scan_client;


  		




  
  87
  
    
        ros::ServiceClient sonar_toggle_client;


  		




  72
  88
  
    
        ros::Subscriber sonar_distance_sub;


  		




  73
  89
  
    

  		




  74
  90
  
    
        ros::NodeHandle node;


  		












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