Diff: main.cpp

Revision:

2:399bcafe6f36

Parent:

1:ac39b48026ca

Child:

3:759af41b06ee

--- a/main.cpp	Sat Mar 13 05:26:36 2021 +0000
+++ b/main.cpp	Fri Mar 26 17:03:52 2021 +0000
@@ -3,12 +3,14 @@
 
 #include <ros.h>
 #include "std_msgs/Bool.h"
+#include "geometry_msgs/Twist.h"
 
 #define BAUD_RATE 115200
 
 using namespace std;
 using namespace std_msgs;
 using namespace ros;
+using namespace geometry_msgs;
 
 DigitalOut myled = LED1;
 DigitalOut Refer_Volt_3_3 = PB_1;
@@ -16,6 +18,8 @@
 DigitalOut pin_B = PA_2;
 DigitalOut pin_C = PA_3;
 
+
+
 NodeHandle nh;
 
 Servo servo = D6;
@@ -56,11 +60,17 @@
         pin_C = 0;
 }
 
+void messagekeypad (const Twist& _msg){
+    float x = _msg.linear.x;
+    float y = _msg.linear.y;
+    
+}
+
 Subscriber<Bool> subsqu("button_square", &messagesqu);
 Subscriber<Bool> subcro("button_cross", &messagecro);
 Subscriber<Bool> subcir("button_circle", &messagecir);
 Subscriber<Bool> subtri("button_triangle", &messagetri);
-Subscriber<Bool> subkeypad("button_keypad", &messagekeypad);
+Subscriber<Twist> subkeypad("button_keypad", &messagekeypad);
 
 int main() {
     myled = 0;