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MotionCommand.cc

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00001 #include "MotionCommand.h"
00002 #include "MotionManager.h"
00003 #include "Events/EventTranslator.h"
00004 #include "Events/EventRouter.h"
00005 #include <iostream>
00006 
00007 using namespace std;
00008 
00009 void MotionCommand::postEvent(const EventBase& event) {
00010   if(queue==NULL) {
00011     erouter->postEvent(event);
00012   } else {
00013     queue->encodeEvent(event);
00014   }
00015 }
00016 
00017 void MotionCommand::resetWheels() {
00018 #ifdef TGT_HAS_WHEELS
00019   //cout << "Resetting " << NumWheels << " wheels" << endl;
00020   for (unsigned int i = WheelOffset; i < WheelOffset + NumWheels; i++) {
00021     motman->setOutput(this, i, 0.0);
00022   }
00023 #endif
00024 }
00025 
00026 
00027 
00028 /*! @file
00029  * @brief Empty
00030  * @author ejt (Creator)
00031  *
00032  * $Author: kcomer $
00033  * $Name: tekkotsu-4_0 $
00034  * $Revision: 1.6 $
00035  * $State: Exp $
00036  * $Date: 2007/11/15 21:31:18 $
00037  */
00038 

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