Revision dbbad8ed
Added a reset() function to EncodersControl. Untested.
scout/encoders/src/encoders.cpp | ||
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* @{ |
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**/ |
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#include <fstream> |
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#include <ros/ros.h> |
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#include "encoders.h" |
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int Encoder::get_ticks() |
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{ |
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// open device file |
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fticks.open(filename, std::ios::in);
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std::fstream fticks(filename, std::ios::in);
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int ticks; |
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fticks >> ticks; |
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fticks.close(); |
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return ticks; |
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} |
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/** |
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* @brief Resets the encoder |
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* |
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* Sets the encoder's ticks value back to 0 |
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*/ |
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void Encoder::reset() |
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{ |
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std::fstream fticks(filename, std::ios::out); |
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fticks << 0; |
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} |
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/** |
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* @brief Outputs current encoder data |
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* |
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* Serves the service query_encoders by responding to service requests with the |
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} |
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/** |
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* @brief Resets all four encoders |
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* |
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* Serves the service reset_encoders |
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* @param req The request. Empty. |
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* @param res The response. Empty. |
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*/ |
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bool handle_reset_query(::messages::reset_encoders::Request &req, |
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::messages::reset_encoders::Response &res) |
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{ |
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encoder_fl.reset(); |
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encoder_fr.reset(); |
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encoder_bl.reset(); |
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encoder_br.reset(); |
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return true; |
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} |
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/** |
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* @brief Encoders driver. This is a ROS node that controls encoders. |
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* |
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* This is the main function for the encoders node. It is run when the node |
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