SBD Digital Accelerator Robotics / Mbed 2 deprecated ISRTest

w/ ROSserial Publisher

Dependencies:   QEI mbed ros_lib_kinetic

main.cpp@5:4eb9b5e03f02, 2018-07-23 (annotated)

Committer:
apriljunio
Date:
Mon Jul 23 15:19:32 2018 +0000
Revision:
5:4eb9b5e03f02
Parent:
1:7ba9803d4e01 
Sorry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apriljunio 0:1a95e3b1026a 1 #include "mbed.h"
apriljunio 0:1a95e3b1026a 2 #include "QEI.h"
apriljunio 0:1a95e3b1026a 3 #include "ros.h"
apriljunio 0:1a95e3b1026a 4 #include "geometry_msgs/Quaternion.h"
apriljunio 0:1a95e3b1026a 5
apriljunio 0:1a95e3b1026a 6 //PINA / PINB / INDEXPIN / PPR / ENCODING (X2 BY DEFAULT)
apriljunio 5:4eb9b5e03f02 7 QEI leftEncoder(D6, D7, NC, 378,QEI::X4_ENCODING);
apriljunio 5:4eb9b5e03f02 8 QEI rightEncoder(D8, D9, NC, 378,QEI::X4_ENCODING);
apriljunio 0:1a95e3b1026a 9
apriljunio 0:1a95e3b1026a 10 ros::NodeHandle nh;
apriljunio 0:1a95e3b1026a 11 geometry_msgs::Quaternion wheelMsg;
apriljunio 0:1a95e3b1026a 12 ros::Publisher wheelPub("/odom_msg", &wheelMsg);
apriljunio 0:1a95e3b1026a 13
apriljunio 1:7ba9803d4e01 14 //rosserial does not like volatile ints
apriljunio 0:1a95e3b1026a 15 int leftPulseA=0;
apriljunio 0:1a95e3b1026a 16 int rightPulseA=0;
apriljunio 0:1a95e3b1026a 17
apriljunio 0:1a95e3b1026a 18 int main(){
apriljunio 0:1a95e3b1026a 19
apriljunio 0:1a95e3b1026a 20 nh.initNode();
apriljunio 0:1a95e3b1026a 21 //nh.advertise(chatter);
apriljunio 0:1a95e3b1026a 22 nh.advertise(wheelPub);
apriljunio 5:4eb9b5e03f02 23 // pc.baud(57600);
apriljunio 0:1a95e3b1026a 24
apriljunio 0:1a95e3b1026a 25 while(true){
apriljunio 0:1a95e3b1026a 26
apriljunio 0:1a95e3b1026a 27 leftPulseA=leftEncoder.getPulses();
apriljunio 0:1a95e3b1026a 28 rightPulseA = rightEncoder.getPulses();
apriljunio 0:1a95e3b1026a 29
apriljunio 0:1a95e3b1026a 30 wheelMsg.x= leftPulseA;
apriljunio 5:4eb9b5e03f02 31 wheelMsg.y = rightPulseA;//timeL;
apriljunio 5:4eb9b5e03f02 32 wheelMsg.z = 0.0;
apriljunio 1:7ba9803d4e01 33 wheelMsg.w = 0.0;//timeR;
apriljunio 0:1a95e3b1026a 34
apriljunio 0:1a95e3b1026a 35 wheelPub.publish(&wheelMsg);
apriljunio 0:1a95e3b1026a 36 nh.spinOnce();
apriljunio 0:1a95e3b1026a 37 wait(0.01);
apriljunio 0:1a95e3b1026a 38 }
apriljunio 0:1a95e3b1026a 39 }