PhidgetServo.cpp File Reference

#include "ros/ros.h"
#include <stdio.h>
#include <phidget21.h>
#include "corobot_msgs/ServoPosition.h"
#include "corobot_msgs/ServoType.h"
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <corobot_diagnostics/diagnostics.h>

Include dependency graph for PhidgetServo.cpp:

Go to the source code of this file.

Functions
int	ErrorHandler (CPhidgetHandle SERV, void *userptr, int ErrorCode, const char *Description)
	Phidget error Callback.
int	main (int argc, char *argv[])
int	PositionChangeHandler (CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double position)
	Each time a servo motor changes position, this function is called and a message is publish on the /phidgetServo_getPosition topic.
void	servo_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Function that will report the status of the hardware to the diagnostic topic.
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.
void	setTypeCallback (const corobot_msgs::ServoType &msg)
	Callback for the topic /phidgetServo_setType The type of the concerned servo motor is set each time a message is received on this topic.
Variables
ros::Publisher	position_pub
CPhidgetAdvancedServoHandle	servo = 0
int	servoError = 0

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Function Documentation

int ErrorHandler	(	CPhidgetHandle	SERV,
		void *	userptr,
		int	ErrorCode,
		const char *	Description
	)

Phidget error Callback.

Definition at line 85 of file PhidgetServo.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 125 of file PhidgetServo.cpp.

int PositionChangeHandler	(	CPhidgetAdvancedServoHandle	phid,
		void *	userPtr,
		int	index,
		double	position
	)

Each time a servo motor changes position, this function is called and a message is publish on the /phidgetServo_getPosition topic.

Definition at line 54 of file PhidgetServo.cpp.

void servo_diagnostic

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

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

Definition at line 107 of file PhidgetServo.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 71 of file PhidgetServo.cpp.

void setTypeCallback

(

const corobot_msgs::ServoType &

msg

)

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

Parameters:

corobot_msgs::ServoType

Message

Definition at line 98 of file PhidgetServo.cpp.

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Variable Documentation

ros::Publisher position_pub

Definition at line 45 of file PhidgetServo.cpp.

CPhidgetAdvancedServoHandle servo = 0

Definition at line 42 of file PhidgetServo.cpp.

int servoError = 0

Definition at line 48 of file PhidgetServo.cpp.