ロボステ6期 / Mbed 2 deprecated NHK2020_main_ros1_2_25

２月25日

Dependencies:   uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

main.cpp@0:44f9a43e4ab2, 2020-02-25 (annotated)

Committer:
yuki0701
Date:
Tue Feb 25 01:20:43 2020 +0000
Revision:
0:44f9a43e4ab2
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 0:44f9a43e4ab2 1 #include "EC.h"
yuki0701 0:44f9a43e4ab2 2 #include "R1370P.h"
yuki0701 0:44f9a43e4ab2 3 #include "move4wheel.h"
yuki0701 0:44f9a43e4ab2 4 #include "mbed.h"
yuki0701 0:44f9a43e4ab2 5 #include "math.h"
yuki0701 0:44f9a43e4ab2 6 #include "PathFollowing.h"
yuki0701 0:44f9a43e4ab2 7 #include "movement.h"
yuki0701 0:44f9a43e4ab2 8 #include "manual.h"
yuki0701 0:44f9a43e4ab2 9 #include "can.h"
yuki0701 0:44f9a43e4ab2 10
yuki0701 0:44f9a43e4ab2 11 #include <ros.h>
yuki0701 0:44f9a43e4ab2 12 #include <geometry_msgs/Point.h>
yuki0701 0:44f9a43e4ab2 13 #include <geometry_msgs/Pose.h>
yuki0701 0:44f9a43e4ab2 14
yuki0701 0:44f9a43e4ab2 15 ros::NodeHandle nh;
yuki0701 0:44f9a43e4ab2 16 geometry_msgs::Point posi_xyr;
yuki0701 0:44f9a43e4ab2 17 geometry_msgs::Quaternion usw_4info;
yuki0701 0:44f9a43e4ab2 18
yuki0701 0:44f9a43e4ab2 19 ros::Publisher pub_xyr("/mbed_main1",&posi_xyr);
yuki0701 0:44f9a43e4ab2 20 ros::Publisher pub_usw("/mbed_main2",&usw_4info);
yuki0701 0:44f9a43e4ab2 21
yuki0701 0:44f9a43e4ab2 22 Ticker cm_pc;
yuki0701 0:44f9a43e4ab2 23 #define PI 3.141592
yuki0701 0:44f9a43e4ab2 24
yuki0701 0:44f9a43e4ab2 25 void cm_to_pc(){
yuki0701 0:44f9a43e4ab2 26
yuki0701 0:44f9a43e4ab2 27 copy_xyr_usw();
yuki0701 0:44f9a43e4ab2 28
yuki0701 0:44f9a43e4ab2 29 posi_xyr.x = info_x;
yuki0701 0:44f9a43e4ab2 30 posi_xyr.y = info_y;
yuki0701 0:44f9a43e4ab2 31 posi_xyr.z = info_r;
yuki0701 0:44f9a43e4ab2 32
yuki0701 0:44f9a43e4ab2 33 usw_4info.x = usw_data1;
yuki0701 0:44f9a43e4ab2 34 usw_4info.y = usw_data2;
yuki0701 0:44f9a43e4ab2 35 usw_4info.z = usw_data3;
yuki0701 0:44f9a43e4ab2 36 usw_4info.w = usw_data4;
yuki0701 0:44f9a43e4ab2 37
yuki0701 0:44f9a43e4ab2 38 pub_xyr.publish(&posi_xyr);
yuki0701 0:44f9a43e4ab2 39 pub_usw.publish(&usw_4info);
yuki0701 0:44f9a43e4ab2 40 }
yuki0701 0:44f9a43e4ab2 41
yuki0701 0:44f9a43e4ab2 42
yuki0701 0:44f9a43e4ab2 43 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
yuki0701 0:44f9a43e4ab2 44 //DigitalOut cansend_led(LED1); //cansend -> on //can.cpp
yuki0701 0:44f9a43e4ab2 45 //DigitalOut canread_led(LED2); //canread -> on //can.cpp
yuki0701 0:44f9a43e4ab2 46 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
yuki0701 0:44f9a43e4ab2 47
yuki0701 0:44f9a43e4ab2 48 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
yuki0701 0:44f9a43e4ab2 49
yuki0701 0:44f9a43e4ab2 50 int main()
yuki0701 0:44f9a43e4ab2 51 {
yuki0701 0:44f9a43e4ab2 52 nh.getHardware()->setBaud(115200);
yuki0701 0:44f9a43e4ab2 53 nh.initNode();
yuki0701 0:44f9a43e4ab2 54 nh.advertise(pub_xyr);
yuki0701 0:44f9a43e4ab2 55 nh.advertise(pub_usw);
yuki0701 0:44f9a43e4ab2 56
yuki0701 0:44f9a43e4ab2 57 cm_pc.attach(&cm_to_pc,0.01);
yuki0701 0:44f9a43e4ab2 58
yuki0701 0:44f9a43e4ab2 59 UserLoopSetting_sensor();
yuki0701 0:44f9a43e4ab2 60
yuki0701 0:44f9a43e4ab2 61 while(1) {
yuki0701 0:44f9a43e4ab2 62
yuki0701 0:44f9a43e4ab2 63 nh.spinOnce();
yuki0701 0:44f9a43e4ab2 64 wait(0.01);
yuki0701 0:44f9a43e4ab2 65
yuki0701 0:44f9a43e4ab2 66 }
yuki0701 0:44f9a43e4ab2 67
yuki0701 0:44f9a43e4ab2 68 }