MorphGI / Mbed OS MGI_Rebuild_MidLevel_9_0-Basic_PWM

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Dependencies:   ros_lib_kinetic

Diff: HLComms.cpp

Revision:
31:08cb04eb75fc
Parent:
30:6c8eea90735e
Child:
32:8c59c536a2a6
--- a/HLComms.cpp	Fri Feb 15 10:29:23 2019 +0000
+++ b/HLComms.cpp	Wed Mar 06 10:28:59 2019 +0000
@@ -16,7 +16,7 @@
 /*HLComms::~HLComms(void) { // Destructor
     delete *_text_pub;
     delete *_sensor_pub;
-    delete *_duration_pub;
+    delete *_durations_pub;
 }*/
 
 // ROS
@@ -37,8 +37,9 @@
     _sensor_pub = new ros::Publisher("ML_Sensors", &_sensor_msg);
     _nh.advertise(*_sensor_pub);
     
-    _duration_pub = new ros::Publisher("ML_Duration", &_duration_msg);
-    _nh.advertise(*_duration_pub);
+    _durations_msg.data_length = 3;
+    _durations_pub = new ros::Publisher("ML_Durations", &_durations_msg);
+    _nh.advertise(*_durations_pub);
     
     wait_ms(1000);
     _rosReady.release();
@@ -93,8 +94,12 @@
             _protected_input.psi_mm[i] = min( max(_protected_input.psi_mm[i],0.0) , (double)MAX_ACTUATOR_LIMIT_MM );
         }
     }
-    _protected_input.speed_mmps = (double)demands_array.data[9];
-    _protected_input.speed_mmps = min( max(_protected_input.speed_mmps,0.0) , (double)MAX_SPEED_MMPS );
+    _protected_input.speeds_mmps[0] = (double)demands_array.data[9];
+    _protected_input.speeds_mmps[0] = min( max(_protected_input.speeds_mmps[0],0.0) , (double)MAX_SPEED_MMPS );
+    _protected_input.speeds_mmps[1] = (double)demands_array.data[10];
+    _protected_input.speeds_mmps[1] = min( max(_protected_input.speeds_mmps[1],0.0) , (double)MAX_SPEED_MMPS );
+    _protected_input.speeds_mmps[2] = (double)demands_array.data[11];
+    _protected_input.speeds_mmps[2] = min( max(_protected_input.speeds_mmps[2],0.0) , (double)MAX_SPEED_MMPS );
     recv_mutex.unlock();
     _input = _protected_input;
     newData.release();
@@ -111,9 +116,11 @@
     _text_pub->publish(&_text_msg);
 }
 
-void HLComms::send_duration_message(double dblTime) {
-    _duration_msg.data = dblTime;
-    _duration_pub->publish(&_duration_msg);
+void HLComms::send_durations_message(double dblTimes[]) {
+    for(short int i=0; i<3; i++) {
+        _durations_msg.data[i] = dblTimes[i];
+    }
+    _durations_pub->publish(&_durations_msg);
 }
 
 void HLComms::send_sensor_message(unsigned int positions[], unsigned int pressures[]) {