Driver.uxf

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    <panel_attributes>Poete
--
#_verbose : bool
#_topic_name : std::string 
#_poete : ros::Publisher
#_odom : nav_mesgs::Odometry 
--
+Poete(ao_nh : ros::NodeHandle, topic  std::string)
+Poete(verb : bool, ao_nh : ros::NodeHandle, topic  std::string)
+publish() : void
+publish(Robot* platoon) : void
+publish(msg : const nav_msgs::Odometry&amp;) : void
+getMsg() : nav_mesgs::Odometry;
+setMsg(nav_mesgs::Odometry newer) : void
+setVerbose() : void
+affiche() : void</panel_attributes>
    <additional_attributes/>
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    <panel_attributes>Scribe
--
#_verbose : bool
#_topic_name : std::string 
#_scribe : ros::Subscriber 
#_cmd : geometry_msgs::Twist
--
+Scribe(ao_nh : NodeHandle, topic : std::string, p : Robot&amp;) : void
+callBackFunc(const geometry_msgs::Twist::ConstPtr&amp; msg, p : Robot*) : void
+bombCallBack(const ros::TimerEvent&amp;, p : Robot*) : void
+getCmd() : geometry_msgs::Twist cmd;
+setCmd(geometry_msgs::Twist newer) : void
+setVerbose() : void
+affiche() : void</panel_attributes>
    <additional_attributes/>
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    <panel_attributes>Robot
--
#_speed : int
#_angularSpeed : int
#_radius : int
#_wheelRadius : int
#_motorControl1 : SerialPortControl
#_odomRead : nav_msgs::Odometry
#_verbose : bool
--
+Robot(motor_port1 : int, baud_rate  int, ao_nh : ros::NodeHandle)
 
+getSpeed() : int
+getAngularSpeed() : int
+getRadius() :int
+getWheelRadius() : int
+getControl() : SerialPortControl&amp;
+getOdom() : nav_msgs::Odometry&amp;
 
+setRadius(d:int : void
+setWheelRadius(wd : int) : void
+setSpeed(s : int) : void
+setAngularSpeed(s_ang : int) : void
+setVerbose() : void
 
+rpm2ms(rpm : float) : float
+ms2rpm(speed : int) :int
+robot2wheels (_twistDemand : Twist&amp;) : void
+robot2wheels();
+odometry() : void
 
+affiche() : void
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    <panel_attributes>SerialPortControl
--
#_motor : LibSerial::SerialStream
#_lEnco : int
#_rEnco : int
#_speedRwheel : int
#_speedLwheel : int
#_measuredSRW : int
#_measuredSLW : int
--
+SeriaPortControl()
 
+getLencoder() : int
+getRencoder() : int
+getSpeedRwheel() : int
+getSpeedLwheel() : int
+getmeasuredSLW() : int
+getmeasuredSRW() : int
 
+readLencoder() : void
+readRencoder() : void
+readTargetSRW() : int
+readTargetSLW() : int
+readRealSRW() : int
+readRealSLW() : int
 
+setTargetSLW(s : float) : void
+setTargetSLW(s : float) : void
+setVerbose() : void
 
+writeEnable() : void
+writeDisable() : void
+writeEncoderIndex() : void
+writeHome() : void
+writeAcc(acc : int) : void
+writeDec(dec : int) : void
+writeMaxSpeed(s : float) : void
+writeMinSpeed(s : float) : void
+writeSpeed(ms : int) : void
+writeTargetSRW(ms : int) : void
+writeTargetSLW(ms : int) : void
+writePoseRelativeR(ms : int) : void
+writePoseRelativeL(ms : int) : void
+writeMove() : void
 
+writePort(str : std::string&amp;) : void
+readPort() : std::string
 
+update(speedRwheel : int, speedLwheel : int) : void
+updateMeasurement() : void</panel_attributes>
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    <panel_attributes>DriveNode
</panel_attributes>
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    <panel_attributes>Commands for generating and executing sequence programs:

Calibration (to do if I got the time later)</panel_attributes>
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