root / scout / libscout / src / EncodersControl.cpp @ d140fd71
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1 | a739cdbd | Alex Zirbel | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | /**
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27 | * @file EncodersControl.cpp
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28 | * @brief Contains encoder function implementation
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29 | *
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30 | * @author Colony Project, CMU Robotics Club
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31 | * @author Alex Zirbel
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32 | */
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33 | |||
34 | f34d6221 | Priya | #include "EncodersControl.h" |
35 | a739cdbd | Alex Zirbel | |
36 | using namespace std; |
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37 | |||
38 | /**
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39 | * @brief Initialize the encoders module of libscout.
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40 | */
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41 | EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node,
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42 | string scoutname)
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43 | : node(libscout_node) |
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44 | { |
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45 | query_client = |
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46 | node.serviceClient<encoders::query_encoders>(scoutname+"/query_encoders");
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47 | } |
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48 | |||
49 | /**
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50 | * @brief Returns the current tick count of the encoders.
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51 | */
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52 | encoder_readings EncodersControl::query() |
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53 | { |
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54 | // Set scan range
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55 | encoders::query_encoders srv; |
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56 | |||
57 | f34d6221 | Priya | encoder_readings cur_readings; |
58 | a739cdbd | Alex Zirbel | |
59 | if (!query_client.call(srv))
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60 | { |
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61 | ROS_ERROR("EncodersControl query failed.");
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62 | } |
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63 | |||
64 | cur_readings.fl_ticks = srv.response.fl_distance; |
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65 | cur_readings.fr_ticks = srv.response.fr_distance; |
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66 | cur_readings.bl_ticks = srv.response.bl_distance; |
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67 | cur_readings.br_ticks = srv.response.br_distance; |
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68 | |||
69 | return cur_readings;
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70 | } |