2月25日
Dependencies: uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P
main.cpp
00001 #include "EC.h" 00002 #include "R1370P.h" 00003 #include "move4wheel.h" 00004 #include "mbed.h" 00005 #include "math.h" 00006 #include "PathFollowing.h" 00007 #include "movement.h" 00008 #include "manual.h" 00009 #include "can.h" 00010 00011 #include <ros.h> 00012 #include <geometry_msgs/Point.h> 00013 #include <geometry_msgs/Pose.h> 00014 00015 ros::NodeHandle nh; 00016 geometry_msgs::Point posi_xyr; 00017 geometry_msgs::Quaternion usw_4info; 00018 00019 ros::Publisher pub_xyr("/mbed_main1",&posi_xyr); 00020 ros::Publisher pub_usw("/mbed_main2",&usw_4info); 00021 00022 Ticker cm_pc; 00023 #define PI 3.141592 00024 00025 void cm_to_pc(){ 00026 00027 copy_xyr_usw(); 00028 00029 posi_xyr.x = info_x; 00030 posi_xyr.y = info_y; 00031 posi_xyr.z = info_r; 00032 00033 usw_4info.x = usw_data1; 00034 usw_4info.y = usw_data2; 00035 usw_4info.z = usw_data3; 00036 usw_4info.w = usw_data4; 00037 00038 pub_xyr.publish(&posi_xyr); 00039 pub_usw.publish(&usw_4info); 00040 } 00041 00042 00043 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------// 00044 //DigitalOut cansend_led(LED1); //cansend -> on //can.cpp 00045 //DigitalOut canread_led(LED2); //canread -> on //can.cpp 00046 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp 00047 00048 //////////////////////////////////////////////////////////////以下main文///////////////////////////////////////////////////////////////// 00049 00050 int main() 00051 { 00052 nh.getHardware()->setBaud(115200); 00053 nh.initNode(); 00054 nh.advertise(pub_xyr); 00055 nh.advertise(pub_usw); 00056 00057 cm_pc.attach(&cm_to_pc,0.01); 00058 00059 UserLoopSetting_sensor(); 00060 00061 while(1) { 00062 00063 nh.spinOnce(); 00064 wait(0.01); 00065 00066 } 00067 00068 }
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