SBD Digital Accelerator Robotics / Mbed 2 deprecated Mouse_ISR_test1

added broadcaster for l.mouse

Dependencies:   QEI mbed ros_lib_kinetic

Fork of Mouse_ISR_broadcaster by SBD Digital Accelerator Robotics

main.cpp@2:47663f3fec3a, 2018-07-19 (annotated)

Committer:
apriljunio
Date:
Thu Jul 19 20:12:47 2018 +0000
Revision:
2:47663f3fec3a
Parent:
1:7ba9803d4e01
Child:
3:ab392a9f941d
Odometry using Mice

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 2:47663f3fec3a 7 QEI leftX(D6, D7, NC, 378,QEI::X2_ENCODING);
apriljunio 2:47663f3fec3a 8 QEI leftY(D8, D9, NC, 378,QEI::X2_ENCODING);
apriljunio 2:47663f3fec3a 9 QEI rightX(D0, D1, NC, 378,QEI::X2_ENCODING);
apriljunio 2:47663f3fec3a 10 QEI rightY(D2, D3, NC, 378,QEI::X2_ENCODING);
apriljunio 0:1a95e3b1026a 11
apriljunio 0:1a95e3b1026a 12 ros::NodeHandle nh;
apriljunio 0:1a95e3b1026a 13 geometry_msgs::Quaternion wheelMsg;
apriljunio 0:1a95e3b1026a 14 ros::Publisher wheelPub("/odom_msg", &wheelMsg);
apriljunio 0:1a95e3b1026a 15
apriljunio 1:7ba9803d4e01 16 //rosserial does not like volatile ints
apriljunio 2:47663f3fec3a 17 int leftPosX=0;
apriljunio 2:47663f3fec3a 18 int leftPosY=0;
apriljunio 2:47663f3fec3a 19 int rightPosX=0;
apriljunio 2:47663f3fec3a 20 int rightPosY=0;
apriljunio 0:1a95e3b1026a 21
apriljunio 0:1a95e3b1026a 22 int main(){
apriljunio 0:1a95e3b1026a 23
apriljunio 0:1a95e3b1026a 24 nh.initNode();
apriljunio 0:1a95e3b1026a 25 //nh.advertise(chatter);
apriljunio 0:1a95e3b1026a 26 nh.advertise(wheelPub);
apriljunio 2:47663f3fec3a 27 // pc.baud(57600);
apriljunio 0:1a95e3b1026a 28
apriljunio 0:1a95e3b1026a 29 while(true){
apriljunio 0:1a95e3b1026a 30
apriljunio 2:47663f3fec3a 31 leftPosX = leftX.getPulses();
apriljunio 2:47663f3fec3a 32 leftPosY = leftY.getPulses();
apriljunio 2:47663f3fec3a 33 rightPosX = rightX.getPulses();
apriljunio 2:47663f3fec3a 34 rightPosY = rightY.getPulses();
apriljunio 0:1a95e3b1026a 35
apriljunio 2:47663f3fec3a 36 wheelMsg.x= leftPosX;
apriljunio 2:47663f3fec3a 37 wheelMsg.y = leftPosY;
apriljunio 2:47663f3fec3a 38 wheelMsg.z = rightPosX;
apriljunio 2:47663f3fec3a 39 wheelMsg.w = rightPosY;
apriljunio 0:1a95e3b1026a 40
apriljunio 0:1a95e3b1026a 41 wheelPub.publish(&wheelMsg);
apriljunio 0:1a95e3b1026a 42 nh.spinOnce();
apriljunio 0:1a95e3b1026a 43 wait(0.01);
apriljunio 0:1a95e3b1026a 44 }
apriljunio 0:1a95e3b1026a 45 }