| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "simulation/SimContinuousOutput.h" |
| 9 | |
| 10 | #include "simulation/MainNode.h" |
| 11 | |
| 12 | using namespace frc; |
| 13 | |
| 14 | SimContinuousOutput::SimContinuousOutput(std::string topic) { |
| 15 | pub = MainNode::Advertise<gazebo::msgs::Float64>("~/simulator/" + topic); |
| 16 | std::cout << "Initialized ~/simulator/" + topic << std::endl; |
| 17 | } |
| 18 | |
| 19 | void SimContinuousOutput::Set(double speed) { |
| 20 | gazebo::msgs::Float64 msg; |
| 21 | msg.set_data(speed); |
| 22 | pub->Publish(msg); |
| 23 | } |
| 24 | |
| 25 | double SimContinuousOutput::Get() { return speed; } |