Fully integrated ToF/IMU codes
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: main.cpp
- Revision:
- 5:90bf5f0d86e9
- Parent:
- 0:7e6b349182bc
- Child:
- 6:e9b1684a9c00
--- a/main.cpp Mon Aug 13 18:23:02 2018 +0000 +++ b/main.cpp Mon Aug 13 21:54:37 2018 +0000 @@ -7,10 +7,11 @@ DigitalOut on(D1); DigitalOut up(D2); DigitalOut down(D3); - +] bool manual = false; Serial pc(USBTX, USBRX, 57600); + Timer t; EventQueue queue; @@ -18,6 +19,13 @@ Wheelchair smart(xDir,yDir, &pc, &t); Thread thread; +void messageCb(const std_msgs::String& command){ + myled = 1; // turn on the led + commandRead.data = command.data; +} + +ros::Subscriber<std_msgs::String> sub("toggle_led", &messageCb); + int main(void) { queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); @@ -100,3 +108,7 @@ } + + + +