servo_node.cpp File Reference

#include <ros/ros.h>
#include "kurt3d/ServoCommand.h"
#include <sensor_msgs/JointState.h>
#include <sstream>
#include "USBInterface.h"
#include <iostream>
#include <boost/thread.hpp>

Include dependency graph for servo_node.cpp:

Go to the source code of this file.

Defines
#define	_USE_MATH_DEFINES
#define	RAD(GRAD)   ((GRAD * (float)M_PI) / (float)180)
#define	SERVO_MIN   1000
#define	SERVO_RANGE   1000
Functions
int	main (int argc, char **argv)
void	moveServo (const sensor_msgs::JointState &req, bool secure)
boost::mutex &	mut ()
bool	nod (kurt3d::ServoCommand::Request &req, kurt3d::ServoCommand::Response &res)
void	servoCallback (const sensor_msgs::JointState::ConstPtr &req)
void	setJointState (int channel, double angle)
Variables
static sensor_msgs::JointState	currentState
static std::string	jointNames [5]
static double	max_pos [5]
static double	min_pos [5]
static ros::Publisher	state_pub

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Define Documentation

#define _USE_MATH_DEFINES

Definition at line 37 of file servo_node.cpp.

#define RAD

(

GRAD

)

((GRAD * (float)M_PI) / (float)180)

Definition at line 39 of file servo_node.cpp.

#define SERVO_MIN   1000

Definition at line 42 of file servo_node.cpp.

#define SERVO_RANGE   1000

Definition at line 41 of file servo_node.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 172 of file servo_node.cpp.

void moveServo	(	const sensor_msgs::JointState &	req,
		bool	secure
	)

Definition at line 86 of file servo_node.cpp.

boost::mutex& mut

(

)

Definition at line 73 of file servo_node.cpp.

bool nod	(	kurt3d::ServoCommand::Request &	req,
		kurt3d::ServoCommand::Response &	res
	)

Definition at line 162 of file servo_node.cpp.

void servoCallback

(

const sensor_msgs::JointState::ConstPtr &

req

)

Definition at line 155 of file servo_node.cpp.

void setJointState	(	int	channel,
		double	angle
	)

Definition at line 79 of file servo_node.cpp.

---

Variable Documentation

sensor_msgs::JointState currentState [static]

Definition at line 46 of file servo_node.cpp.

std::string jointNames[5] [static]

Initial value:

{ "drehobjekt_1_to_balken_1",
  "servo_1_a_to_wing_1_a",
  "servo_1_b_to_wing_1_b",
  "servo_2_a_to_wing_2_a",
  "servo_2_b_to_wing_2_b"}

Definition at line 65 of file servo_node.cpp.

double max_pos[5] [static]

Initial value:

{
    RAD(60.0),
    RAD(45.0),
    RAD(45.0),
    RAD(60.0),

}

Definition at line 56 of file servo_node.cpp.

double min_pos[5] [static]

Initial value:

{
    RAD(-50.0),
    RAD(-65.0),
    RAD(-65.0),
    RAD(-50.0),
    RAD(-65.0) 
}

Definition at line 48 of file servo_node.cpp.

ros::Publisher state_pub [static]

Definition at line 44 of file servo_node.cpp.