Revision b00761a0
| ID | b00761a0e88f934a309a939b653d9f441b127ae8 |
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.
| scout/sonar/src/sonar.h | ||
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#ifndef _SONAR_H_ |
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#define _SONAR_H_ |
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/** @brief Initialize the sonar in the library module **/
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/** Initialize the sonar module and drivers **/
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void sonar_init(void); |
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/** @brief Initialize the sonar module and drivers **/ |
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void sonar_module_init(void); |
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/** Responds to sonar on/off requests. */ |
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bool handle_sonar_toggle(sonar::sonar_toggle::Request &req, |
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sonar::sonar_toggle::Response &res) |
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/** @brief Read raw sonar data from the sonar module. Takes stepper |
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* position and sensor to read **/ |
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int sonar_read_raw(int direction, int sensor); |
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/** @brief Wrapper for reading sonar data (angle in degrees and distance in |
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* cm) **/ |
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int sonar_read(int direction); |
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/** @brief Subscribe function to sonar topic **/ |
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void sonar_subscribe(int *function()); |
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/** Responds to requests which set the scan range. */ |
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bool handle_sonar_set_scan(sonar::sonar_set_scan::Request &req, |
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sonar::sonar_set_scan::Response &res) |
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#endif |
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