#include "ros/ros.h"
#include "orientation.h"
#include <stdio.h>
#include "corobot_msgs/PosMsg.h"
#include "corobot_msgs/PowerMsg.h"
#include "corobot_msgs/SensorMsg.h"
#include "sensor_msgs/MagneticField.h"
#include "sensor_msgs/Imu.h"
#include "std_msgs/Int16.h"
#include <phidget21.h>
#include <tf/transform_datatypes.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <corobot_diagnostics/diagnostics.h>
#include <std_srvs/Empty.h>

Include dependency graph for corobot_phidget.cpp:

Functions
int	AnalogInputHandler (CPhidgetInterfaceKitHandle IFK, void *usrptr, int Index, int Value)
bool	calibrate_gyroscope (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
int	DigitalInputHandler (CPhidgetInterfaceKitHandle IFK, void *usrptr, int Index, int State)
	callback that will run if an input changes. Index - Index of the input that generated the event, State - boolean (0 or 1) representing the input state (on or off)
int	ErrorHandler (CPhidgetHandle IFK, void userptr, int ErrorCode, const char unknown)
int	interfacekit_simple ()
static float	irVoltageToDistance (float volts)
	Description: Convert a voltage from the Phidgets 8/8/8 board into a distance, for the Infrared sensors return 25.4 meters as a distance if the value is out of range otherwise returns a valid distance in meters.
int	main (int argc, char *argv[])
void	phidget_ik_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	phidget_spatial_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
int	sendSonarResult ()
	Function that will use use the sonar to later acquire their value.
static double	sonarVoltageToMeters (int value)
int	SpatialDataHandler (CPhidgetSpatialHandle spatial, void userptr, CPhidgetSpatial_SpatialEventDataHandle data, int count)
Variables
int	batteryPort = 0
ros::Publisher	bumper_pub
int	bwOutput = -1
ros::ServiceServer	calibrate_gyroscope_service
int	firstSonarInput = -1
CPhidgetInterfaceKitHandle	ifKit = 0
bool	imu = true
ros::Publisher	imu_pub
int	interfaceKitError = 0
int	irBackPort = 2
ros::Publisher	irData_pub
int	irFrontPort = 1
int	lastSonarInput = -1
bool	m_rearBumperPresent = false
ros::Publisher	mag_pub
Orientation	orientation_calculation
ros::Publisher	other_pub
ros::Publisher	powerdata_pub
ros::Publisher	sonar_pub
bool	sonarsPresent = false
CPhidgetSpatialHandle	spatial = 0
int	spatialError = 0
int	strobeOutput = -1

Function Documentation

int AnalogInputHandler	(	CPhidgetInterfaceKitHandle	IFK,
		void *	usrptr,
		int	Index,
		int	Value
	)

Definition at line 183 of file corobot_phidget.cpp.

bool calibrate_gyroscope	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Definition at line 291 of file corobot_phidget.cpp.

int DigitalInputHandler	(	CPhidgetInterfaceKitHandle	IFK,
		void *	usrptr,
		int	Index,
		int	State
	)

callback that will run if an input changes. Index - Index of the input that generated the event, State - boolean (0 or 1) representing the input state (on or off)

Definition at line 151 of file corobot_phidget.cpp.

int ErrorHandler	(	CPhidgetHandle	IFK,
		void *	userptr,
		int	ErrorCode,
		const char *	unknown
	)

Definition at line 89 of file corobot_phidget.cpp.

int interfacekit_simple ( )

Definition at line 297 of file corobot_phidget.cpp.

static float irVoltageToDistance ( float volts ) [static]

Description: Convert a voltage from the Phidgets 8/8/8 board into a distance, for the Infrared sensors return 25.4 meters as a distance if the value is out of range otherwise returns a valid distance in meters.

Definition at line 102 of file corobot_phidget.cpp.