SBD Digital Accelerator Robotics / Mbed 2 deprecated Test

VNH ROSSERIAL PUB+SUB

Dependencies:   Motordriver QEI mbed ros_lib_kinetic

Fork of Test by SBD Digital Accelerator Robotics

main.cpp

Committer:
apriljunio
Date:
2018-07-13
Revision:
1:5f2cb6bc0a8e
Parent:
0:99538487421b
Child:
2:82249618b6bc

File content as of revision 1:5f2cb6bc0a8e:

#include "mbed.h"
#include "motordriver.h"
#include "ros.h"
#include "geometry_msgs/Vector3.h"

//pwm, fwd, rev, can brake
Motor motorLeft(D9,D5,D4, 1);
Motor motorRight(D10, D7, D8, 1); 

ros:: NodeHandle nh; 

void messageCb( const geometry_msgs::Vector3& msg)
{
      //while (true) {
      //for (float s=-msg.x; s < msg.x ; s += 0.01f) {
       motorLeft.speed(msg.x);
       motorRight.speed(msg.y);
      // wait(0.005);}
   // }
}

ros::Subscriber<geometry_msgs::Vector3> sub("/motor/command", &messageCb );

int main() {
    
    nh.initNode();
    nh.subscribe(sub);
    
    while (true) {
        nh.spinOnce();
        wait_ms(1);
    } 
}