root / scout / libscout / src / Sensors.h @ c06735bb
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file Behavior.h
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* @brief Contains declarations for the structure of all behaviours.
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*
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* Contains functions and definitions for a generic behavior.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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* @author Alex Zirbel
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**/
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#ifndef _SENSORS_H_
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#define _SENSORS_H_
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#include <ros/ros.h> |
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#include <std_msgs/String.h> |
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#include "MotorControl.h" |
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#include "HeadlightControl.h" |
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#include "ButtonControl.h" |
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#include "SonarControl.h" |
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//#include "CliffsensorControl.h"
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#include "EncodersControl.h" |
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#include "LinesensorControl.h" |
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#include "WirelessSender.h" |
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#include "WirelessReceiver.h" |
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class Sensors |
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{ |
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public:
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Sensors(std::string scoutname); |
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// b_stuff stand for behavior control class
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void init(MotorControl ** b_motors, ButtonControl ** b_buttons,
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SonarControl ** b_sonar, EncodersControl ** b_encoders, |
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LinesensorControl ** b_linesensor, |
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WirelessSender ** b_wl_sender, |
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WirelessReceiver ** b_wl_receiver); |
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std::string name; |
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private:
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ros::NodeHandle node; |
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MotorControl * motors; |
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ButtonControl * buttons; |
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SonarControl * sonar; |
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//CliffsensorControl * cliffsensor;
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EncodersControl * encoders; |
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LinesensorControl * linesensor; |
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WirelessSender * wl_sender; |
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WirelessReceiver * wl_receiver; |
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}; |
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#endif
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