root / scout / libscout / src / SonarControl.h @ ed37d345
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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 SonarControl.h
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* @brief Contains sonar declarations and functions
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*
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* Contains functions and definitions for the use of
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* sonar
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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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**/
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#ifndef _SONAR_CONTROL_H_
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#define _SONAR_CONTROL_H_
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#include <ros/ros.h> |
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#include <sonar/sonar_set_scan.h> |
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#include <sonar/sonar_toggle.h> |
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#include <sonar/sonar_distance.h> |
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#include "constants.h" |
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class SonarControl |
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{ |
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public:
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/** Set up the motor node and prepare to communicate over ROS */
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SonarControl(const ros::NodeHandle& libscout_node,
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std::string scoutname); |
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/** Sets sonar to a position (0-23) specified by input */
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void set_single(int position); |
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/** Sets sonar to scan a range in 0-23 specified by input */
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void set_range(int start_pos, int end_pos); |
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/** (Re)starts sonar panning and taking readings */
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void set_on();
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/** Stops sonar from panning and taking readings */
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void set_off();
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private:
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/** Record the new sonar distance measurement */
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void distance_callback(const sonar::sonar_distance::ConstPtr& msg); |
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/** Sends a sonar_toggle message. */
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void set_power(bool is_on); |
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/** Converts between values output by sensor and physical distances */
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//float sonar_to_dist(float sonar_value);
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//float dist_to_sonar(float distance);
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/** If a service call fails, tries again this many times. */
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int num_attempts;
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/** Keep track of the latest readings and their time of receipt.
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* Readings are in millimeters. */
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int readings[48]; |
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ros::Time timestamps[48];
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/* ROS publisher and client declaration */
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ros::ServiceClient sonar_set_scan_client; |
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ros::ServiceClient sonar_toggle_client; |
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ros::Subscriber sonar_distance_sub; |
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ros::NodeHandle node; |
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}; |
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#endif
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