SBD Digital Accelerator Robotics
added broadcaster for l.mouse
Dependencies: QEI mbed ros_lib_kinetic
Fork of
Mouse_ISR_broadcaster
by 
SBD Digital Accelerator Robotics
Revision 0:1a95e3b1026a, committed 2018-07-16
- Comitter:
- apriljunio
- Date:
- Mon Jul 16 18:35:30 2018 +0000
- Child:
- 1:7ba9803d4e01
- Commit message:
- w/ publisher;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Jul 16 18:35:30 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 16 18:35:30 2018 +0000
@@ -0,0 +1,60 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "ros.h"
+#include "geometry_msgs/Quaternion.h"
+//#include "std_msgs/String.h"
+
+//PINA / PINB / INDEXPIN / PPR / ENCODING (X2 BY DEFAULT)
+QEI leftEncoder(D3, D12, NC, 378);
+QEI rightEncoder(D2, D13, NC, 378);
+
+Timer tL, tR;
+
+//Serial pc(USBTX, USBRX);
+
+ros::NodeHandle nh;
+geometry_msgs::Quaternion wheelMsg;
+ros::Publisher wheelPub("/odom_msg", &wheelMsg);
+
+//std_msgs::String str_msg;
+//ros::Publisher chatter("chatter", &str_msg);
+
+//char hello[13]="Hello World";
+
+int leftPulseA=0;
+int rightPulseA=0;
+
+unsigned long timeL =0 ;
+unsigned long timeR=0;
+
+int main(){
+
+ nh.initNode();
+ //nh.advertise(chatter);
+ nh.advertise(wheelPub);
+ // pc.baud(57600);
+
+
+ while(true){
+
+ leftPulseA=leftEncoder.getPulses();
+ rightPulseA = rightEncoder.getPulses();
+ timeL = tL.read();
+ timeR = tL.read();
+
+ wheelMsg.x= leftPulseA;
+ wheelMsg.y = timeL;;
+ wheelMsg.z = rightPulseA;
+ wheelMsg.w = 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);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 16 18:35:30 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Mon Jul 16 18:35:30 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f