File content as of revision 5:864709d3eb76:

#ifndef FREEFLYERHARDWARE_H
#define FREEFLYERHARDWARE_H

#include "mbed.h"
#include "math.h"
#include <ros.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float32MultiArray.h>
#include "PID.h"
#include "QEI.h"
#include "defines.h"
#include "RGBA_LED.h"
#include "utilities.h"
#include <algorithm>

class FreeFlyerHardware
{
public:
    
    FreeFlyerHardware(ros::NodeHandle &nh, I2C *i2c, DigitalOut *thruster_pinouts,
        DigitalOut *led_inv_out_en, bool debug_flag);
    
    void updatePID();
    void commandThrusters(int *thruster_on_off_cmd);    // switch to char for easy use?
    void stepThrusterPWM();
    void publishWheelMeas();
    void publishPIDParam();
    
    float getPWMOut();
    void setPWMOut(float pwm_out);
    void setPIDSetpoint(float pid_setpoint);
    float getWheelVelocity();
    
    float duty_cycle_cmd_;          // Only for duty cycle command mode
    bool duty_cycle_command_mode_;
    bool feed_forward_mode_;
    
    RGBA_LED *rgba_led_;
    
protected:
    int NUM_THRUSTERS;
    
    PID *controller_;
    
    QEI *wheel_encoder_; // object to interact with encoder outputs
    
    int thruster_pwm_stop_[8];       // Number that the PWM count reaches before each thruster turns off
    int thruster_pwm_clock_;
    
    float shaft_vel_meas_;          // [RPM] Measured shaft speed
    float current_out_, voltage_out_, pwm_out_;

    float slope_ff_, inter_ff_;     // Feedforward slope, intercept terms
    
    DigitalOut *thruster_pinouts_;
    
    // ROS
    ros::NodeHandle *root_nh_;
    
    ros::Publisher *velocity_sns_pub_, *setpoint_pub_, *acc_error_pub_;
    ros::Publisher *pid_param_pub_;
    
    std_msgs::Float32 velocity_sns_msg_, setpoint_msg_, acc_error_msg_;
    std_msgs::Float32MultiArray pid_param_msg_;
    
    ros::Subscriber<std_msgs::Float32, FreeFlyerHardware> *wheel_vel_cmd_sub_,
                                                          *wheel_duty_cycle_cmd_sub_;
    ros::Subscriber<std_msgs::Float32MultiArray, FreeFlyerHardware> *thruster_duty_cmd_sub_,
                                                                    *wheel_pid_params_cmd_sub_;
    
    void wheelVelCmdCallback(const std_msgs::Float32& msg);
    void wheelDutyCycleCmdCallback(const std_msgs::Float32& msg);
    void wheelPidParamsCmdCallback(const std_msgs::Float32MultiArray& msg);
    void thrusterDutyCmdCallback(const std_msgs::Float32MultiArray& msg);
    
    bool debug_flag_;
};
    
    
#endif