SBD Digital Accelerator Robotics / Mbed 2 deprecated ISRTest

w/ ROSserial Publisher

Dependencies:   QEI mbed ros_lib_kinetic

Files at this revision

API Documentation at this revision

Revision 5:4eb9b5e03f02, committed 2018-07-23

Comitter:
apriljunio
Date:
Mon Jul 23 15:19:32 2018 +0000
Parent:
1:7ba9803d4e01
Commit message:
Sorry

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Jul 16 19:47:46 2018 +0000
+++ b/main.cpp	Mon Jul 23 15:19:32 2018 +0000
@@ -4,8 +4,8 @@
 #include "geometry_msgs/Quaternion.h"
 
 //PINA / PINB / INDEXPIN / PPR / ENCODING (X2 BY DEFAULT)
-QEI leftEncoder(D3, D12, NC, 378);
-QEI rightEncoder(D2, D13, NC, 378);
+QEI leftEncoder(D6, D7, NC, 378,QEI::X4_ENCODING);
+QEI rightEncoder(D8, D9, NC, 378,QEI::X4_ENCODING);
 
 ros::NodeHandle nh;
 geometry_msgs::Quaternion wheelMsg;
@@ -15,35 +15,23 @@
 int leftPulseA=0; 
 int rightPulseA=0;
 
-//timeL; 
-//timeR; 
-
 int main(){
     
     nh.initNode();
     //nh.advertise(chatter);
     nh.advertise(wheelPub);
-   // pc.baud(57600);
-
+    // pc.baud(57600);
     
     while(true){
     
     leftPulseA=leftEncoder.getPulses();
     rightPulseA = rightEncoder.getPulses();
-    //timeL = tL.read();
-    //timeR = tL.read();
     
     wheelMsg.x= leftPulseA;
-    wheelMsg.y = 0.0;//timeL;
-    wheelMsg.z = rightPulseA;
+    wheelMsg.y = rightPulseA;//timeL;
+    wheelMsg.z = 0.0;
     wheelMsg.w = 0.0;//timeR;    
     
-    
-    //pc.printf("Left pulses %i \n", leftPulseA);
-    //pc.printf("Right pulses %i \n", rightPulseA);
-    
-    //str_msg.data=hello;
-    //chatter.publish(&str_msg);
     wheelPub.publish(&wheelMsg);
     nh.spinOnce();
     wait(0.01);