From 65f269b1a847baab235e7eac75199b6522deeaab Mon Sep 17 00:00:00 2001
From: jkira1 <91625762+jkira1@users.noreply.github.com>
Date: Wed, 15 Feb 2023 18:33:43 -0600
Subject: [PATCH 1/4] added 1 file - groupMotors

---
 src/app/RosControlTest/groupMotors.cpp | 58 ++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 src/app/RosControlTest/groupMotors.cpp

diff --git a/src/app/RosControlTest/groupMotors.cpp b/src/app/RosControlTest/groupMotors.cpp
new file mode 100644
index 0000000..7374756
--- /dev/null
+++ b/src/app/RosControlTest/groupMotors.cpp
@@ -0,0 +1,58 @@
+#include "ControlGroup.h"
+#include "ControlGroupRosHandler.h"
+#include "Group.h"
+#include "MockMotor.h"
+#include "ros/node_handle.h"
+#include <cstdint>
+#include <iostream>
+#include <memory>
+#include <vector>
+
+auto groupMotors(int32_t argc, char **argv) -> int32_t {
+    std::cout << "wrevolution ROS test start..." << std::endl;
+
+    // motors 1 - 3
+    auto motor1{std::make_shared<Hardware::Motor>(1, "LeftBackMotor_1")};
+    auto motor2{std::make_shared<Hardware::Motor>(2, "LeftMiddleMotor_2")};
+    auto motor3{std::make_shared<Hardware::Motor>(3, "LeftFrontMotor_3")};
+
+    // motors 4 - 6
+    auto motor4{std::make_shared<Hardware::Motor>(4, "RightBackMotor_4")};
+    auto motor5{std::make_shared<Hardware::Motor>(5, "RightMiddleMotor_5")};
+    auto motor6{std::make_shared<Hardware::Motor>(6, "RightFrontMotor_6")};
+
+    // motor group 1
+    auto motorGroup1{std::make_shared<Hardware::Group>("LeftGroupMotors")};
+    motorGroup1->addControlGroup(motor1);
+    motorGroup1->addControlGroup(motor2);
+    motorGroup1->addControlGroup(motor3);
+
+    // motor group 2
+    auto motorGroup1{std::make_shared<Hardware::Group>("RightGroupMotors")};
+    motorGroup2->addControlGroup(motor4);
+    motorGroup2->addControlGroup(motor5);
+    motorGroup2->addControlGroup(motor6);
+
+    std::cout << "Motor setup complete!" << std::endl;
+
+    // Setup ROS Interface
+    ros::init(argc, argv, "RosControlTest");
+    ros::NodeHandle node{};
+
+    std::vector<std::unique_ptr<RosHandler::ControlGroupRosHandler>> controlGroupHandlers{};
+
+    controlGroupHandlers.reserve(testingGroups.size());
+
+    for (const auto &controlGroup : testingGroups) {
+        controlGroupHandlers.push_back(std::make_unique<RosHandler::ControlGroupRosHandler>(node, controlGroup));
+    }
+
+    std::cout << "ROS Setup complete!" << std::endl;
+
+    // Spin ROS comms
+    ros::spin();
+
+    std::cout << "Shutting down..." << std::endl;
+
+    return 0;
+}

From 718b7a8b65ab0b321fc5e1913439c24bbde942d5 Mon Sep 17 00:00:00 2001
From: jkira1 <91625762+jkira1@users.noreply.github.com>
Date: Wed, 15 Feb 2023 18:38:08 -0600
Subject: [PATCH 2/4] added group motors file

---
 src/app/RosControlTest/groupMotors.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/app/RosControlTest/groupMotors.cpp b/src/app/RosControlTest/groupMotors.cpp
index 7374756..434423f 100644
--- a/src/app/RosControlTest/groupMotors.cpp
+++ b/src/app/RosControlTest/groupMotors.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-auto groupMotors(int32_t argc, char **argv) -> int32_t {
+auto main(int32_t argc, char **argv) -> int32_t {
     std::cout << "wrevolution ROS test start..." << std::endl;
 
     // motors 1 - 3

From bbd061fe757a527409d8ebc0b6484d9e33c5027d Mon Sep 17 00:00:00 2001
From: jkira1 <91625762+jkira1@users.noreply.github.com>
Date: Wed, 15 Feb 2023 18:41:30 -0600
Subject: [PATCH 3/4] added 1 file

---
 src/app/RosControlTest/groupMotors.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/app/RosControlTest/groupMotors.cpp b/src/app/RosControlTest/groupMotors.cpp
index 434423f..7374756 100644
--- a/src/app/RosControlTest/groupMotors.cpp
+++ b/src/app/RosControlTest/groupMotors.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-auto main(int32_t argc, char **argv) -> int32_t {
+auto groupMotors(int32_t argc, char **argv) -> int32_t {
     std::cout << "wrevolution ROS test start..." << std::endl;
 
     // motors 1 - 3

From 73ca46b88b1c47f72a9fb291ee565e2bdca2f070 Mon Sep 17 00:00:00 2001
From: jkira1 <91625762+jkira1@users.noreply.github.com>
Date: Wed, 15 Feb 2023 18:44:08 -0600
Subject: [PATCH 4/4] added one file

---
 src/app/RosControlTest/groupMotors.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/app/RosControlTest/groupMotors.cpp b/src/app/RosControlTest/groupMotors.cpp
index 7374756..434423f 100644
--- a/src/app/RosControlTest/groupMotors.cpp
+++ b/src/app/RosControlTest/groupMotors.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-auto groupMotors(int32_t argc, char **argv) -> int32_t {
+auto main(int32_t argc, char **argv) -> int32_t {
     std::cout << "wrevolution ROS test start..." << std::endl;
 
     // motors 1 - 3