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Revision cc558a8d

IDcc558a8d1299b6a5034be4ea7035b58fe09581b8

Added by Alex Zirbel over 12 years ago

Modified the Behaviors to take a scoutname.

Scoutname now specifies which scout the behavior will affect. Scoutname must be passed to the constructors of each control module (some of which are now in need of modification), so that they can publish to the correct topic.

I also modified the constants file so that it is no longer exported. We should consider making this a full class with static exported functions (or a namespace).

View differences:

scout/libscout/src/SonarControl.cpp
110 110 
 *
111 111 
 * @TODO Change so we can get multiple sonar readings with one call
112 112 
 *
113 
 * @return The reading of the front sonar or LIB_ERR.
113 
 * @return The reading of the front sonar
114 114 
 */
115 115 
float SonarControl::query_front()
116 116 
{
......
121 121 
    }
122 122 
    else
123 123 
    {
124 
        ROS_ERROR("Failed to call service query_motors");
125 
        return LIB_ERROR;
124 
        ROS_FATAL("Failed to call service query_motors");
126 125 
    }
127 126 

  		




  128
  127
  
    
    return 0;


  		




  ......




  136
  135
  
    
 *


  		




  137
  136
  
    
 * @TODO Change so we can get multiple sonar readings with one call


  		




  138
  137
  
    
 *


  		




  139
  
  
    
 * @return The reading of the back sonar or LIB_ERR.


  		




  
  138
  
    
 * @return The reading of the back sonar


  		




  140
  139
  
    
 */


  		




  141
  140
  
    
float SonarControl::query_back()


  		




  142
  141
  
    
{


  		




  ......




  147
  146
  
    
    }


  		




  148
  147
  
    
    else


  		




  149
  148
  
    
    {


  		




  150
  
  
    
        ROS_ERROR("Failed to call service query_motors");


  		




  151
  
  
    
        return LIB_ERROR;


  		




  
  149
  
    
        ROS_FATAL("Failed to call service query_motors");


  		




  152
  150
  
    
    }


  		




  153
  151
  
    

  		




  154
  152
  
    
    return 0;


  		












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