head_motion.cpp

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#include <ros/ros.h>

#include <hitec5980sg/hitec5980sg.h>
#include <geometry_msgs/Point.h>

using namespace ros;
using namespace std;

short unsigned int x_before = 1950;
short unsigned int y_before = 1470;


class Head
{
    public:
        
        Head(std::string device):
        servos(device.c_str())
        {
            
        }
        
        void positionHandler(const geometry_msgs::Point& point)
        {
            if ((point.z <= 0) && (point.y <= 0))
            {
                servos.SetPosition(53,x_before);
                //std::cout << "x_before: " << x_before << "y_before" << y_before << std::endl;
                //servos.SetSpeedPosition(53,0);
                servos.SetPosition(41,y_before);
                //servos.SetSpeedPosition(41,0);
            }
            else
            {
                if ((point.z >= 0) && (point.z <= 255) && (point.y >= 0) && (point.y <= 255))//validate velocity
                {
                    if (point.x == 1)
                    {
                        servos.SetPosition(53,1600);
                        x_before = servos.SetSpeedPosition(53,point.y);
                        
                        servos.SetPosition(41,2000);
                        y_before = servos.SetSpeedPosition(41,point.z);
                    }
                    if (point.x == 2)
                    {
                        servos.SetPosition(53,1600);
                        x_before = servos.SetSpeedPosition(53,point.y);
                        
                        servos.SetPosition(41,600);
                        y_before = servos.SetSpeedPosition(41,point.z);  
                    }
                    if (point.x == 3)
                    {
                        servos.SetPosition(53,2000);
                        x_before = servos.SetSpeedPosition(53,point.y);
                        
                        servos.SetPosition(41,2000);
                        y_before = servos.SetSpeedPosition(41,point.z); 
                    }
                    if (point.x == 4)
                    {
                        servos.SetPosition(53,2000);
                        x_before = servos.SetSpeedPosition(53,point.y);
                        
                        servos.SetPosition(41,600);
                        y_before = servos.SetSpeedPosition(41,point.z);
                    }
                }
                else
                {
                    std::cout << "invalid  velocity: " << point.z << std::endl;
                }
            }
        }
        
        hitec_5980SG servos;
};

int main(int argc, char** argv)
{
    ros::init( argc, argv, "head_motion" );//nome
    
    ros::NodeHandle n("~");
    
    Head head("/dev/ttyUSB0");
    std::cout << "initializing head motion..." << std::endl;
    
    ros::Subscriber sub = n.subscribe("/find_arrow_state", 1,&Head::positionHandler,&head);
    
    ros::spin();
    
    return 0;
}