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Revision c9f87aaf

IDc9f87aaf3a58a9f09fc5d5ba9fa93b5e540e30d4

Added by Ben Wasserman over 12 years ago

Added code inside motors.cpp to set and read individual speeds in different units. Also added appropriate headers to motors.h, and units field to query_motors.srv and set_motors.msg

View differences:

scout/motors/src/motors.h
1 1 
/**
2 
 * Copyright (c) 2007 Colony Project
2 
 * Copyright (c) 2011 Colony Project
3 3 
 *
4 4 
 * Permission is hereby granted, free of charge, to any person
5 5 
 * obtaining a copy of this software and associated documentation
......
40 40 
#include "motors/query_motors.h"
41 41 
#include "motors/set_motors.h"
42 42 

  		




  
  43
  
    
#define MAXSPEED 512


  		




  
  44
  
    
#define MOTOR_ALL 0xF


  		




  
  45
  
    
#define MOTOR_ALL_REV 0xF0


  		




  
  46
  
    
#define MOTOR_NONE 0x0


  		




  
  47
  
    
#define MOTOR_FL 0x8


  		




  
  48
  
    
#define MOTOR_FR 0x4


  		




  
  49
  
    
#define MOTOR_BL 0x2


  		




  
  50
  
    
#define MOTOR_BR 0x1


  		




  
  51
  
    
#define MOTOR_FL_REV 0x80


  		




  
  52
  
    
#define MOTOR_FR_REV 0x40


  		




  
  53
  
    
#define MOTOR_BL_REV 0x20


  		




  
  54
  
    
#define MOTOR_BR_REV 0x10


  		




  
  55
  
    
#define MOTOR_FRONT MOTOR_FL | MOTOR_FR


  		




  
  56
  
    
#define MOTOR_BACK MOTOR_BR | MOTOR_BR


  		




  
  57
  
    
#define MOTOR_LEFT MOTOR_FL | MOTOR_BL


  		




  
  58
  
    
#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR


  		




  
  59
  
    
#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV


  		




  
  60
  
    
#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV


  		




  
  61
  
    
#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT


  		




  
  62
  
    
#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV


  		




  
  63
  
    
#define MOTOR_PERCENT 'p'


  		




  
  64
  
    
#define MOTOR_MMS 'm'


  		




  
  65
  
    
#define MOTOR_CMS 'c'


  		




  
  66
  
    
#define MOTOR_ABSOLUTE 'a'


  		




  
  67
  
    

  		




  
  68
  
    

  		




  43
  69
  
    
/** @brief Initialize the motors module and driver. **/


  		




  44
  70
  
    
int main(int argc, char **argv);


  		




  45
  71
  
    

  		




  ......




  50
  76
  
    
bool motors_query(motors::query_motors::Request &req,


  		




  51
  77
  
    
                  motors::query_motors::Response &res);


  		




  52
  78
  
    

  		




  
  79
  
    
/** @brief Converts speeds from speeds in units to absolute speeds. **/


  		




  
  80
  
    
int motors_rel_to_abs(int rel_speed, int units);


  		




  
  81
  
    

  		




  
  82
  
    
/** @brief Converts speeds from absolute speeds to speeds in units. **/


  		




  
  83
  
    
int motors_abs_to_rel(int rel_speed, int units);


  		




  
  84
  
    

  		




  53
  85
  
    
#endif


  		












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