Functions | Variables
corobot_phidget.cpp File Reference
#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:

Go to the source code of this file.

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.

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.

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

Definition at line 413 of file corobot_phidget.cpp.

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

Definition at line 385 of file corobot_phidget.cpp.

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

Definition at line 399 of file corobot_phidget.cpp.

int sendSonarResult ( )

Function that will use use the sonar to later acquire their value.

Definition at line 138 of file corobot_phidget.cpp.

static double sonarVoltageToMeters ( int  value) [static]

Voltage to distance function that is used for the sonar sensors

Parameters:
valuevalue from 0 to 1000 representing a voltage value from 0 to vcc (5V)

Definition at line 125 of file corobot_phidget.cpp.

int SpatialDataHandler ( CPhidgetSpatialHandle  spatial,
void *  userptr,
CPhidgetSpatial_SpatialEventDataHandle *  data,
int  count 
)

Receive new IMU data, calculate the new orientation and publish data on the topic

Definition at line 247 of file corobot_phidget.cpp.


Variable Documentation

int batteryPort = 0

Definition at line 79 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

int bwOutput = -1

Definition at line 69 of file corobot_phidget.cpp.

Definition at line 66 of file corobot_phidget.cpp.

int firstSonarInput = -1

Definition at line 78 of file corobot_phidget.cpp.

CPhidgetInterfaceKitHandle ifKit = 0

Definition at line 47 of file corobot_phidget.cpp.

bool imu = true

Definition at line 59 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

Definition at line 84 of file corobot_phidget.cpp.

int irBackPort = 2

Definition at line 81 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

int irFrontPort = 1

Definition at line 80 of file corobot_phidget.cpp.

int lastSonarInput = -1

Definition at line 75 of file corobot_phidget.cpp.

bool m_rearBumperPresent = false

Definition at line 53 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

Definition at line 50 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

Definition at line 62 of file corobot_phidget.cpp.

bool sonarsPresent = false

Definition at line 56 of file corobot_phidget.cpp.

CPhidgetSpatialHandle spatial = 0

Definition at line 48 of file corobot_phidget.cpp.

int spatialError = 0

Definition at line 84 of file corobot_phidget.cpp.

int strobeOutput = -1

Definition at line 72 of file corobot_phidget.cpp.



corobot_phidget_ik
Author(s):
autogenerated on Wed Aug 26 2015 11:09:50