PhidgetStepper.cpp File Reference

#include "ros/ros.h"
#include <stdio.h>
#include <math.h>
#include <stdint.h>
#include "std_msgs/Float64.h"
#include "corobot_msgs/MoveArm.h"
#include "corobot_msgs/PosMsg.h"
#include <phidget21.h>
#include <corobot_diagnostics/diagnostics.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

Include dependency graph for PhidgetStepper.cpp:

Go to the source code of this file.

Classes
struct	stepper
Enumerations
enum	stepper_type {   armBaseRotation, armShoulder, armElbow, armWrist,   armGripper, leftWheel, rightWheel }
Functions
void	init_servos_db (XmlRpc::XmlRpcValue stepper_list, ros::NodeHandle n)
	initialise the list of stepper and the number of stepper connected. It reads this from the yaml file.
void	init_stepper_boards ()
int	main (int argc, char **argv)
int	positionCallback (CPhidgetStepperHandle phid, void *userPtr, int index, __int64 position)
void	publishPosition ()
void	setStepperPosition (const corobot_msgs::MoveArm &msg)
	Topic to move the stepper motors of the Corobot.
void	stepper_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
Variables
int64_t	leftPosition = 0
int	number_stepper = 0
ros::Publisher	positionPublisher
int64_t	rightPosition = 0
int	stepperError = 0
ros::Publisher	stepperPositionPublisher
stepper *	steppers = NULL

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Enumeration Type Documentation

enum stepper_type

Enumerator:

armBaseRotation
armShoulder
armElbow
armWrist
armGripper
leftWheel
rightWheel

Definition at line 45 of file PhidgetStepper.cpp.

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Function Documentation

void init_servos_db	(	XmlRpc::XmlRpcValue	stepper_list,
		ros::NodeHandle	n
	)

initialise the list of stepper and the number of stepper connected. It reads this from the yaml file.

Definition at line 149 of file PhidgetStepper.cpp.

void init_stepper_boards

(

)

Definition at line 215 of file PhidgetStepper.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 271 of file PhidgetStepper.cpp.

int positionCallback	(	CPhidgetStepperHandle	phid,
		void *	userPtr,
		int	index,
		__int64	position
	)

Definition at line 119 of file PhidgetStepper.cpp.

void publishPosition

(

)

Definition at line 109 of file PhidgetStepper.cpp.

void setStepperPosition

(

const corobot_msgs::MoveArm &

msg

)

Topic to move the stepper motors of the Corobot.

Definition at line 86 of file PhidgetStepper.cpp.

void stepper_diagnostic

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 252 of file PhidgetStepper.cpp.

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Variable Documentation

int64_t leftPosition = 0

Definition at line 79 of file PhidgetStepper.cpp.

int number_stepper = 0

Definition at line 69 of file PhidgetStepper.cpp.

ros::Publisher positionPublisher

Definition at line 75 of file PhidgetStepper.cpp.

int64_t rightPosition = 0

Definition at line 80 of file PhidgetStepper.cpp.

int stepperError = 0

Definition at line 72 of file PhidgetStepper.cpp.

ros::Publisher stepperPositionPublisher

Definition at line 78 of file PhidgetStepper.cpp.

stepper* steppers = NULL

Definition at line 66 of file PhidgetStepper.cpp.