traxbot_driverTest.cpp File Reference

#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <unistd.h>
#include <ros/ros.h>
#include <ros/time.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Pose2D.h>

Include dependency graph for traxbot_driverTest.cpp:

Go to the source code of this file.

Defines
#define	PI   3.1415
Functions
void	batteryPowerCB (const std_msgs::Float32::ConstPtr &battery)
void	calcOdometryDist (float dist, float alfa)
void	enable_encodersRead ()
void	enable_encodersReset ()
void	enable_infoData ()
void	enable_stopMotors ()
void	encoder1_readCB (const std_msgs::Int16::ConstPtr &pulses1)
void	encoder2_readCB (const std_msgs::Int16::ConstPtr &pulses2)
int	encodersRead ()
void	firmwareVersionCB (const std_msgs::Float32::ConstPtr &firmwareV)
void	goTo (int x, int y, float teta, int xFinal, int yFinal, float tetaFinal)
int	main (int argc, char **argv)
float	median (int n, float x[])
void	move (float dist, int speed1, int speed2)
void	moveMotors (int speed1, int speed2, int way)
bool	powerCheck (float batteryValue)
float	pulse2dist (int pulse)
void	reactiveNavigation ()
void	rotate (float angle, int speed)
void	sonar1CB (const std_msgs::Int16::ConstPtr &sonar1)
void	sonar2CB (const std_msgs::Int16::ConstPtr &sonar2)
void	sonar3CB (const std_msgs::Int16::ConstPtr &sonar3)
void	squareTest (int side_width, int way, int cycles)
void	stepTest ()
void	temperatureCB (const std_msgs::Int8::ConstPtr &temp)
Variables
float	alfa = 0
int	counter1 = 0
int	counter2 = 0
int	counter3 = 0
float	dist = 0
int	encoderRead1
int	encoderRead2
float	info_battery
float	info_driverF
int	info_temp
float	phi = 0
ros::Publisher	pub_encodersRead
ros::Publisher	pub_encodersReset
ros::Publisher	pub_moveMotors
ros::Publisher	pub_odometry
ros::Publisher	pub_sonars
ros::Publisher	pub_stopMotors
ros::Publisher	pub_traxbotInfo
float	r_robot = 185.0
float	r_wheel = 39.0
int	range_msg1
int	range_msg2
int	range_msg3
int	reactiveRange = 35
int	samples = 10
float	sonar1Samples [10]
float	sonar2Samples [10]
float	sonar3Samples [10]
ros::Subscriber	sub_batteryPower
ros::Subscriber	sub_driverFirmware
ros::Subscriber	sub_driverTemperature
ros::Subscriber	sub_encoderRead1
ros::Subscriber	sub_encoderRead2
ros::Subscriber	sub_range1
ros::Subscriber	sub_range2
ros::Subscriber	sub_range3
float	teta = 0
float	tetaFinal = 0
float	tetaTemp = 0
int	vMove = 25
int	vRotate = 20
int	x = 0
int	xFinal = 0
int	xTemp = 0
int	y = 0
int	yFinal = 0
int	yTemp = 0

---

Define Documentation

#define PI   3.1415

Definition at line 65 of file traxbot_driverTest.cpp.

---

Function Documentation

void batteryPowerCB

(

const std_msgs::Float32::ConstPtr &

battery

)

Definition at line 196 of file traxbot_driverTest.cpp.

void calcOdometryDist	(	float	dist,
		float	alfa
	)

Definition at line 322 of file traxbot_driverTest.cpp.

void enable_encodersRead

(

)

Definition at line 148 of file traxbot_driverTest.cpp.

void enable_encodersReset

(

)

Definition at line 157 of file traxbot_driverTest.cpp.

void enable_infoData

(

)

Definition at line 175 of file traxbot_driverTest.cpp.

void enable_stopMotors

(

)

Definition at line 166 of file traxbot_driverTest.cpp.

void encoder1_readCB

(

const std_msgs::Int16::ConstPtr &

pulses1

)

Definition at line 184 of file traxbot_driverTest.cpp.

void encoder2_readCB

(

const std_msgs::Int16::ConstPtr &

pulses2

)

Definition at line 190 of file traxbot_driverTest.cpp.

int encodersRead

(

)

Definition at line 310 of file traxbot_driverTest.cpp.

void firmwareVersionCB

(

const std_msgs::Float32::ConstPtr &

firmwareV

)

Definition at line 201 of file traxbot_driverTest.cpp.

void goTo	(	int	x,
		int	y,
		float	teta,
		int	xFinal,
		int	yFinal,
		float	tetaFinal
	)

Definition at line 472 of file traxbot_driverTest.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 621 of file traxbot_driverTest.cpp.

float median	(	int	n,
		float	x[]
	)

Definition at line 123 of file traxbot_driverTest.cpp.

void move	(	float	dist,
		int	speed1,
		int	speed2
	)

Definition at line 353 of file traxbot_driverTest.cpp.

void moveMotors	(	int	speed1,
		int	speed2,
		int	way
	)

Definition at line 275 of file traxbot_driverTest.cpp.

bool powerCheck

(

float

batteryValue

)

Definition at line 289 of file traxbot_driverTest.cpp.

float pulse2dist

(

int

pulse

)

Definition at line 303 of file traxbot_driverTest.cpp.

void reactiveNavigation

(

)

Definition at line 553 of file traxbot_driverTest.cpp.

void rotate	(	float	angle,
		int	speed
	)

Definition at line 399 of file traxbot_driverTest.cpp.

void sonar1CB

(

const std_msgs::Int16::ConstPtr &

sonar1

)

Definition at line 211 of file traxbot_driverTest.cpp.

void sonar2CB

(

const std_msgs::Int16::ConstPtr &

sonar2

)

Definition at line 232 of file traxbot_driverTest.cpp.

void sonar3CB

(

const std_msgs::Int16::ConstPtr &

sonar3

)

Definition at line 252 of file traxbot_driverTest.cpp.

void squareTest	(	int	side_width,
		int	way,
		int	cycles
	)

Definition at line 513 of file traxbot_driverTest.cpp.

void stepTest

(

)

Definition at line 610 of file traxbot_driverTest.cpp.

void temperatureCB

(

const std_msgs::Int8::ConstPtr &

temp

)

Definition at line 206 of file traxbot_driverTest.cpp.

---

Variable Documentation

float alfa = 0

Definition at line 76 of file traxbot_driverTest.cpp.

int counter1 = 0

Definition at line 87 of file traxbot_driverTest.cpp.

int counter2 = 0

Definition at line 87 of file traxbot_driverTest.cpp.

int counter3 = 0

Definition at line 87 of file traxbot_driverTest.cpp.

float dist = 0

Definition at line 76 of file traxbot_driverTest.cpp.

int encoderRead1

Definition at line 68 of file traxbot_driverTest.cpp.

int encoderRead2

Definition at line 68 of file traxbot_driverTest.cpp.

float info_battery

Definition at line 67 of file traxbot_driverTest.cpp.

float info_driverF

Definition at line 67 of file traxbot_driverTest.cpp.

int info_temp

Definition at line 68 of file traxbot_driverTest.cpp.

float phi = 0

Definition at line 76 of file traxbot_driverTest.cpp.

ros::Publisher pub_encodersRead

Definition at line 100 of file traxbot_driverTest.cpp.

ros::Publisher pub_encodersReset

Definition at line 99 of file traxbot_driverTest.cpp.

ros::Publisher pub_moveMotors

Definition at line 97 of file traxbot_driverTest.cpp.

ros::Publisher pub_odometry

Definition at line 103 of file traxbot_driverTest.cpp.

ros::Publisher pub_sonars

Definition at line 93 of file traxbot_driverTest.cpp.

ros::Publisher pub_stopMotors

Definition at line 98 of file traxbot_driverTest.cpp.

ros::Publisher pub_traxbotInfo

Definition at line 92 of file traxbot_driverTest.cpp.

float r_robot = 185.0

Definition at line 78 of file traxbot_driverTest.cpp.

float r_wheel = 39.0

Definition at line 78 of file traxbot_driverTest.cpp.

int range_msg1

Definition at line 68 of file traxbot_driverTest.cpp.

int range_msg2

Definition at line 68 of file traxbot_driverTest.cpp.

int range_msg3

Definition at line 68 of file traxbot_driverTest.cpp.

int reactiveRange = 35

Definition at line 83 of file traxbot_driverTest.cpp.

int samples = 10

Definition at line 85 of file traxbot_driverTest.cpp.

float sonar1Samples[10]

Definition at line 86 of file traxbot_driverTest.cpp.

float sonar2Samples[10]

Definition at line 86 of file traxbot_driverTest.cpp.

float sonar3Samples[10]

Definition at line 86 of file traxbot_driverTest.cpp.

ros::Subscriber sub_batteryPower

Definition at line 110 of file traxbot_driverTest.cpp.

ros::Subscriber sub_driverFirmware

Definition at line 109 of file traxbot_driverTest.cpp.

ros::Subscriber sub_driverTemperature

Definition at line 111 of file traxbot_driverTest.cpp.

ros::Subscriber sub_encoderRead1

Definition at line 114 of file traxbot_driverTest.cpp.

ros::Subscriber sub_encoderRead2

Definition at line 115 of file traxbot_driverTest.cpp.

ros::Subscriber sub_range1

Definition at line 118 of file traxbot_driverTest.cpp.

ros::Subscriber sub_range2

Definition at line 119 of file traxbot_driverTest.cpp.

ros::Subscriber sub_range3

Definition at line 120 of file traxbot_driverTest.cpp.

float teta = 0

Definition at line 71 of file traxbot_driverTest.cpp.

float tetaFinal = 0

Definition at line 74 of file traxbot_driverTest.cpp.

float tetaTemp = 0

Definition at line 71 of file traxbot_driverTest.cpp.

int vMove = 25

Definition at line 80 of file traxbot_driverTest.cpp.

int vRotate = 20

Definition at line 80 of file traxbot_driverTest.cpp.

int x = 0

Definition at line 70 of file traxbot_driverTest.cpp.

int xFinal = 0

Definition at line 73 of file traxbot_driverTest.cpp.

int xTemp = 0

Definition at line 70 of file traxbot_driverTest.cpp.

int y = 0

Definition at line 70 of file traxbot_driverTest.cpp.

int yFinal = 0

Definition at line 73 of file traxbot_driverTest.cpp.

int yTemp = 0

Definition at line 70 of file traxbot_driverTest.cpp.