root / scout / libscout / src / HeadlightControl.h @ fa5ca6e3
History | View | Annotate | Download (2.2 KB)
1 | 90c7a37c | Ben Wasserman | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | a8480867 | Alex Zirbel | */
|
25 | 90c7a37c | Ben Wasserman | |
26 | /**
|
||
27 | a8480867 | Alex Zirbel | * @file HeadlightControl.h
|
28 | 90c7a37c | Ben Wasserman | * @brief Contains headlights declarations and functions
|
29 | *
|
||
30 | * Contains functions and definitions for the use of
|
||
31 | * headlights
|
||
32 | *
|
||
33 | * @author Colony Project, CMU Robotics Club
|
||
34 | * @author Ben Wasserman
|
||
35 | a8480867 | Alex Zirbel | * @author Alex Zirbel
|
36 | */
|
||
37 | 90c7a37c | Ben Wasserman | |
38 | a8480867 | Alex Zirbel | #ifndef _HEADLIGHT_CONTROL_H_
|
39 | #define _HEADLIGHT_CONTROL_H_
|
||
40 | 90c7a37c | Ben Wasserman | |
41 | a8480867 | Alex Zirbel | #include <ros/ros.h> |
42 | #include <headlights/set_headlights.h> |
||
43 | 90c7a37c | Ben Wasserman | |
44 | cc558a8d | Alex Zirbel | #include "constants.h" |
45 | |||
46 | 90c7a37c | Ben Wasserman | /* Defines */
|
47 | #define WHITE 0xFFFFFF |
||
48 | #define OFF 0x000000 |
||
49 | #define RED 0xFF0000 |
||
50 | a8480867 | Alex Zirbel | #define GREEN 0x00FF00 |
51 | 90c7a37c | Ben Wasserman | #define BLUE 0x0000FF |
52 | a8480867 | Alex Zirbel | #define YELLOW 0xFFFF00 |
53 | 90c7a37c | Ben Wasserman | #define CYAN 0x00FFFF |
54 | #define PINK 0xFF00FF |
||
55 | |||
56 | #define HL_RIGHT 0x1 |
||
57 | #define HL_LEFT 0x2 |
||
58 | #define HL_BOTH 0x3 |
||
59 | |||
60 | 3ec16d35 | Ben Wasserman | #define NO_SET -1 |
61 | |||
62 | 90c7a37c | Ben Wasserman | #define REDSHIFT 16 |
63 | a8480867 | Alex Zirbel | #define GREENSHIFT 8 |
64 | #define BLUESHIFT 0 |
||
65 | |||
66 | class HeadlightControl |
||
67 | { |
||
68 | public:
|
||
69 | cc558a8d | Alex Zirbel | HeadlightControl(const ros::NodeHandle& libscout_node,
|
70 | std::string scoutname); |
||
71 | a8480867 | Alex Zirbel | |
72 | void set(int color, int which); |
||
73 | void set_rgb(int red, int green, int blue, int which); |
||
74 | |||
75 | private:
|
||
76 | ros::NodeHandle node; |
||
77 | 90c7a37c | Ben Wasserman | |
78 | a8480867 | Alex Zirbel | ros::Publisher set_headlights_pub; |
79 | }; |
||
80 | 90c7a37c | Ben Wasserman | |
81 | #endif
|