motor.cpp File Reference

#include "ros/ros.h"
#include "ssc32.hpp"
#include "corobot_srvs/SetSpeed.h"
#include "corobot_srvs/MoveArm.h"
#include "corobot_msgs/ssc32_info.h"
#include "corobot_msgs/MotorCommand.h"
#include "corobot_msgs/ServoPosition.h"
#include <math.h>
#include <errno.h>
#include <sys/stat.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

Include dependency graph for motor.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
bool	MoveArm (corobot_srvs::MoveArm::Request &req, corobot_srvs::MoveArm::Response &res)
bool	MoveGripper (corobot_srvs::MoveArm::Request &req, corobot_srvs::MoveArm::Response &res)
bool	MoveWrist (corobot_srvs::MoveArm::Request &req, corobot_srvs::MoveArm::Response &res)
bool	ResetArm (corobot_srvs::MoveArm::Request &req, corobot_srvs::MoveArm::Response &res)
void	setPositionCallback (const corobot_msgs::ServoPosition &msg)
	Callback for the topic /phidgetServo_setPosition The position of the concerned servo motor is set each time a message is received on this topic.
bool	SetSpeed (corobot_srvs::SetSpeed::Request &req, corobot_srvs::SetSpeed::Response &res)
void	SetSpeedTopic (const corobot_msgs::MotorCommand::ConstPtr &msg)
void	ssc32_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	timerCallback (const ros::TimerEvent &)
Variables
bool	first_time_command [20] = {false}
SSC32	m_ssc32
std::string	SSC32_PORT
int	ssc32Error = 0
ros::Timer	timer

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 175 of file motor.cpp.

bool MoveArm	(	corobot_srvs::MoveArm::Request &	req,
		corobot_srvs::MoveArm::Response &	res
	)

Definition at line 80 of file motor.cpp.

bool MoveGripper	(	corobot_srvs::MoveArm::Request &	req,
		corobot_srvs::MoveArm::Response &	res
	)

Definition at line 116 of file motor.cpp.

bool MoveWrist	(	corobot_srvs::MoveArm::Request &	req,
		corobot_srvs::MoveArm::Response &	res
	)

Definition at line 99 of file motor.cpp.

bool ResetArm	(	corobot_srvs::MoveArm::Request &	req,
		corobot_srvs::MoveArm::Response &	res
	)

Definition at line 106 of file motor.cpp.

void setPositionCallback

(

const corobot_msgs::ServoPosition &

msg

)

Callback for the topic /phidgetServo_setPosition The position of the concerned servo motor is set each time a message is received on this topic.

Parameters:

corobot_msgs::ServoPosition

Message

Definition at line 133 of file motor.cpp.

bool SetSpeed	(	corobot_srvs::SetSpeed::Request &	req,
		corobot_srvs::SetSpeed::Response &	res
	)

Definition at line 26 of file motor.cpp.

void SetSpeedTopic

(

const corobot_msgs::MotorCommand::ConstPtr &

msg

)

Definition at line 60 of file motor.cpp.

void ssc32_diagnostic

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Function that will report the status of the hardware to the diagnostic topic

Definition at line 156 of file motor.cpp.

void timerCallback

(

const ros::TimerEvent &

)

Definition at line 43 of file motor.cpp.

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Variable Documentation

bool first_time_command[20] = {false}

Definition at line 23 of file motor.cpp.

SSC32 m_ssc32

Definition at line 17 of file motor.cpp.

std::string SSC32_PORT

Definition at line 19 of file motor.cpp.

int ssc32Error = 0

Definition at line 21 of file motor.cpp.

ros::Timer timer

Definition at line 20 of file motor.cpp.