throttle.cc File Reference

ROS driver for the ART throttle servo controller. More...

#include <math.h>
#include <ros/ros.h>
#include <art_msgs/ArtHertz.h>
#include <art_msgs/ThrottleCommand.h>
#include <art_msgs/ThrottleState.h>
#include "devthrottle.h"

Include dependency graph for throttle.cc:

Go to the source code of this file.

Classes
class	Throttle
Defines
#define	CLASS   "Throttle"
#define	IOADR_MAX_INPUTS   8
Functions
int	main (int argc, char **argv)

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Detailed Description

ROS driver for the ART throttle servo controller.

This driver provides an interface to the throttle servo for the ART robot vehicle.

Publishes

• throttle/state [art_msgs::ThrottleState] throttle status.

Subscribes

• throttle/cmd [art_msgs::ThrottleCommand] throttle commands.

Sets the desired throttle position. At position 1.0 the throttle is fully open, fully closed at 0.0 (idle). There are both absolute and relative requests.

Parameters

• port (string)
  • tty port name for the throttle servo
  • use "/dev/null" when simulating the device
  • default: "/dev/throttle" (actual hardware port)

• training (bool)
  • if true, log throttle data, but do not send it any commands
  • default: false

Training mode collects data while a human driver operates the vehicle.

• diagnostic (bool)
  • if true, log extra diagnostic throttle information not needed for normal operation
  • default: false

Author:

Jack O'Quin

Definition in file throttle.cc.

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Define Documentation

#define CLASS   "Throttle"

Definition at line 62 of file throttle.cc.

#define IOADR_MAX_INPUTS   8

Definition at line 19 of file throttle.cc.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 214 of file throttle.cc.