Diff: ros_functions.cpp

Revision:

0:3a767f41cf04

Child:

2:0537a8007a39

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_functions.cpp	Wed Jan 31 05:24:12 2018 +0000
@@ -0,0 +1,101 @@
+
+#include <ros_functions.h>
+#include <definitions.h>
+#include <ros.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <prototypes.h>
+
+
+void module_commandCB(const std_msgs::Float32MultiArray& command_data){
+    
+    rosInput.yaw = command_data.data[ROSYAW];
+    rosInput.pitch = command_data.data[ROSPITCH];
+    rosInput.roll = command_data.data[ROSROLL];
+    rosInput.height = command_data.data[ROSHEIGHT];
+    rosInput.mode = command_data.data[ROSMODE];
+    
+}
+
+void rosCheck(){ 
+    if (rosFlag){ 
+        rosFlag = 0;
+        if(rosInput.mode == 0){ //Transport Mode
+                control.yaw = YAWZERO;
+                control.pitch = PITCHZERO;
+                control.roll = ROLLZERO;
+                control.gimbalRun = TRUE;
+            if(control.height != LIFTHEIGHTMIN){
+                control.height = LIFTHEIGHTMIN;
+                control.liftRun = TRUE;
+            }      
+        }
+        else if(rosInput.mode == 1){ //Photo Mode         
+            switch(rosInput.height){
+                case(1):
+                control.height = control.height + 50; 
+                control.liftRun = TRUE;   
+                if(control.height > LIFTHEIGHTMAX){
+                    control.height = LIFTHEIGHTMAX;}
+                break;
+                case(2):
+                control.height = control.height - 50;
+                control.liftRun = TRUE;   
+                if(control.height < LIFTHEIGHTMIN){
+                    control.height = LIFTHEIGHTMIN;}
+                break;
+                case(0):
+                control.height = currentPosition;
+                break; 
+            } 
+            switch(rosInput.yaw){
+                case(1):
+                control.yaw = control.yaw + 50;
+                control.gimbalRun = TRUE;
+                if(control.yaw > YAWMAX){
+                    control.yaw = YAWMAX;}
+                break;
+                case(2):
+                control.yaw = control.yaw - 50;
+                control.gimbalRun = TRUE;
+                if(control.yaw < YAWMIN){
+                    control.yaw = YAWMIN;}
+                break;
+                case(0):
+                break;
+            }
+            switch(rosInput.pitch){
+                case(1):
+                control.pitch = control.pitch + 50;
+                control.gimbalRun = TRUE;
+                if(control.pitch > PITCHMAX){
+                    control.pitch = PITCHMAX;}
+                break;
+                case(2):
+                control.pitch = control.pitch - 50;
+                control.gimbalRun = TRUE;
+                if(control.pitch < PITCHMIN){
+                    control.pitch = PITCHMIN;}
+                break;
+                case(0):
+                break; 
+            }
+            switch(rosInput.roll){
+                case(1):
+                control.roll = control.roll + 50;
+                control.gimbalRun = TRUE;
+                if(control.roll > ROLLMAX){
+                    control.roll = ROLLMAX;}
+                break;
+                case(2):
+                control.roll = control.roll - 50;
+                control.gimbalRun = TRUE;
+                if(control.roll < ROLLMIN){
+                    control.roll = ROLLMIN;}
+                break;
+                case(0):
+                break; 
+            }
+        } 
+    }   
+}
\ No newline at end of file