File content as of revision 0:dd126a1080d3:

#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 "utilities.h"

class FreeFlyerHardware
{
public:
    
    FreeFlyerHardware(ros::NodeHandle &nh, DigitalOut *thruster_pinouts);
    
    void updatePID();
    void publishDebug();
    void commandThrusters(int *thruster_on_off_cmd);    // switch to char for easy use?
    void stepThrusterPWM();
    
    float getVoltageOut();
    
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 scaled_meas_, current_out_, voltage_out_;
    
    DigitalOut *thruster_pinouts_;
    
    // ROS
    ros::NodeHandle *root_nh_;
    
    ros::Publisher *velocity_sns_pub_;
    ros::Publisher *setpoint_pub_, *estimate_pub_, *error_pub_;
    ros::Publisher *acc_error_pub_, *current_cmd_pub_, *duty_cycle_pub_;
    
    std_msgs::Float32 velocity_sns_msg_;
    std_msgs::Float32 setpoint_msg_, estimate_msg_, error_msg_;
    std_msgs::Float32 acc_error_msg_, current_cmd_msg_, duty_cycle_msg_;
    
    ros::Subscriber<std_msgs::Float32, FreeFlyerHardware> *wheel_vel_cmd_sub_;
    ros::Subscriber<std_msgs::Float32MultiArray, FreeFlyerHardware> *wheel_pid_gains_cmd_sub_;
    ros::Subscriber<std_msgs::Float32MultiArray, FreeFlyerHardware> *thruster_duty_cmd_sub_;
    
    void wheelVelCmdCallback(const std_msgs::Float32& msg);
    void wheelPidGainsCmdCallback(const std_msgs::Float32MultiArray& msg);
    void thrusterDutyCmdCallback(const std_msgs::Float32MultiArray& msg);
    
};
    
    
#endif