Diff: main.cpp

Revision:

0:44f9a43e4ab2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,68 @@
+#include "EC.h"
+#include "R1370P.h"
+#include "move4wheel.h"
+#include "mbed.h"
+#include "math.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "manual.h"
+#include "can.h"
+
+#include <ros.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Pose.h>
+
+ros::NodeHandle nh;
+geometry_msgs::Point posi_xyr;
+geometry_msgs::Quaternion usw_4info;
+
+ros::Publisher pub_xyr("/mbed_main1",&posi_xyr);
+ros::Publisher pub_usw("/mbed_main2",&usw_4info);
+
+Ticker cm_pc;
+#define PI 3.141592
+
+void cm_to_pc(){
+    
+    copy_xyr_usw();
+    
+    posi_xyr.x = info_x;
+    posi_xyr.y = info_y;
+    posi_xyr.z = info_r;
+    
+    usw_4info.x = usw_data1;
+    usw_4info.y = usw_data2;
+    usw_4info.z = usw_data3;
+    usw_4info.w = usw_data4;
+    
+    pub_xyr.publish(&posi_xyr);
+    pub_usw.publish(&usw_4info);
+}
+
+
+//-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
+//DigitalOut cansend_led(LED1);  //cansend -> on                //can.cpp
+//DigitalOut canread_led(LED2);  //canread -> on                //can.cpp
+//DigitalOut debug_led(LED3);    //maxon debug programme -> on  //maxonsetting.cpp
+
+//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
+
+int main()
+{
+    nh.getHardware()->setBaud(115200);
+    nh.initNode();
+    nh.advertise(pub_xyr);
+    nh.advertise(pub_usw);
+    
+    cm_pc.attach(&cm_to_pc,0.01);
+
+    UserLoopSetting_sensor();
+    
+    while(1) {
+
+        nh.spinOnce();
+        wait(0.01);
+
+    }
+
+}
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