SOFT564 / Mbed 2 deprecated Nucleo_blink_ledse

5r

Dependencies:   mbed ros_lib_kinetic

main.cpp@0:7107a8b171d1, 2019-12-03 (annotated)

Committer:
msalmehmadi
Date:
Tue Dec 03 11:43:08 2019 +0000
Revision:
0:7107a8b171d1
Child:
1:e3660c13da3c
ToF sensor publisher

Who changed what in which revision?

UserRevisionLine numberNew contents of line
msalmehmadi 0:7107a8b171d1 1 #include "mbed.h"
msalmehmadi 0:7107a8b171d1 2 //#include "VL6180.h"
msalmehmadi 0:7107a8b171d1 3 //#include <std_msgs/Empty.h>
msalmehmadi 0:7107a8b171d1 4 #include <ros.h>
msalmehmadi 0:7107a8b171d1 5 #include <std_msgs/UInt8.h>
msalmehmadi 0:7107a8b171d1 6 ///////////////////////////////////////////////////////////////////
msalmehmadi 0:7107a8b171d1 7 // Beginning of code
msalmehmadi 0:7107a8b171d1 8 ///////////////////////////////////////////////////////////////////
msalmehmadi 0:7107a8b171d1 9 //#include "timeofflight.hpp"
msalmehmadi 0:7107a8b171d1 10 #define addr (0x52)
msalmehmadi 0:7107a8b171d1 11 #define fwd 1
msalmehmadi 0:7107a8b171d1 12
msalmehmadi 0:7107a8b171d1 13 Serial pc(USBTX,USBRX);
msalmehmadi 0:7107a8b171d1 14 //VL6180 distance_sensor (SDA,SCL);
msalmehmadi 0:7107a8b171d1 15 //Serial pc(SERIAL_TX, SERIAL_RX);// set-up serial to pc
msalmehmadi 0:7107a8b171d1 16 // I²C address of VL6180 shifted by 1 bit
msalmehmadi 0:7107a8b171d1 17 /*
msalmehmadi 0:7107a8b171d1 18 VL6180 tof1(0x52);
msalmehmadi 0:7107a8b171d1 19 VL6180 tof2(0x53);
msalmehmadi 0:7107a8b171d1 20 VL6180 tof3(0x54);
msalmehmadi 0:7107a8b171d1 21 VL6180 tof4(0x55);
msalmehmadi 0:7107a8b171d1 22 */
msalmehmadi 0:7107a8b171d1 23
msalmehmadi 0:7107a8b171d1 24 ros::NodeHandle nh;
msalmehmadi 0:7107a8b171d1 25
msalmehmadi 0:7107a8b171d1 26 std_msgs::UInt8 Tof1;
msalmehmadi 0:7107a8b171d1 27 ros::Publisher tof1("tof1", &Tof1);
msalmehmadi 0:7107a8b171d1 28
msalmehmadi 0:7107a8b171d1 29
msalmehmadi 0:7107a8b171d1 30 std_msgs::UInt8 Tof2;
msalmehmadi 0:7107a8b171d1 31 ros::Publisher tof2("tof2", &Tof2);
msalmehmadi 0:7107a8b171d1 32
msalmehmadi 0:7107a8b171d1 33 std_msgs::UInt8 Tof3;
msalmehmadi 0:7107a8b171d1 34 ros::Publisher tof3("tof3", &Tof3);
msalmehmadi 0:7107a8b171d1 35
msalmehmadi 0:7107a8b171d1 36 std_msgs::UInt8 Tof4;
msalmehmadi 0:7107a8b171d1 37 ros::Publisher tof4("tof4", &Tof4);
msalmehmadi 0:7107a8b171d1 38
msalmehmadi 0:7107a8b171d1 39
msalmehmadi 0:7107a8b171d1 40 int main() {
msalmehmadi 0:7107a8b171d1 41 nh.initNode();
msalmehmadi 0:7107a8b171d1 42 nh.advertise(tof1);
msalmehmadi 0:7107a8b171d1 43 nh.advertise(tof2);
msalmehmadi 0:7107a8b171d1 44 nh.advertise(tof3);
msalmehmadi 0:7107a8b171d1 45 nh.advertise(tof4);
msalmehmadi 0:7107a8b171d1 46
msalmehmadi 0:7107a8b171d1 47 while (1) {
msalmehmadi 0:7107a8b171d1 48 // led = !led;
msalmehmadi 0:7107a8b171d1 49 Tof1.data = 5;
msalmehmadi 0:7107a8b171d1 50 tof1.publish( &Tof1 );
msalmehmadi 0:7107a8b171d1 51 Tof2.data = 6;
msalmehmadi 0:7107a8b171d1 52 tof2.publish( &Tof2 );
msalmehmadi 0:7107a8b171d1 53 Tof2.data = 7;
msalmehmadi 0:7107a8b171d1 54 tof2.publish( &Tof3);
msalmehmadi 0:7107a8b171d1 55 Tof2.data = 8;
msalmehmadi 0:7107a8b171d1 56 tof2.publish( &Tof4);
msalmehmadi 0:7107a8b171d1 57 nh.spinOnce();
msalmehmadi 0:7107a8b171d1 58 wait_ms(1000);
msalmehmadi 0:7107a8b171d1 59 }
msalmehmadi 0:7107a8b171d1 60 }
msalmehmadi 0:7107a8b171d1 61
msalmehmadi 0:7107a8b171d1 62