Revision 9:b27a26e1ae55, committed 2019-12-12

Comitter:

BenRJG

Date:

Thu Dec 12 19:51:42 2019 +0000

Parent:

8:639e4bfb65b0

Commit message:

Ben's Guidelines for code modification

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TOFPublisher.cpp	Thu Dec 12 19:51:42 2019 +0000
@@ -0,0 +1,86 @@
+#include "mbed.h"
+#include <std_msgs/Empty.h>
+#include <ros.h>
+#include <std_msgs/UInt8.h>
+
+//#include "VL6180.h"
+#include "timeofflight.hpp"
+///////////////////////////////////////////////////////////////////
+// Beginning of code
+///////////////////////////////////////////////////////////////////
+Serial pc(USBTX,USBRX);
+//VL6180 distance_sensor (SDA,SCL);
+//Serial pc(SERIAL_TX, SERIAL_RX);// set-up serial to pc
+            // I²C address of VL6180 shifted by 1 bit
+
+VL6180 tof1Data(0x52);
+/* VL6180 tof2Data(0x53);
+VL6180 tof3Data(0x54);
+VL6180 tof4Data(0x55);
+*/
+
+DigitalOut myled(LED1);
+
+ros::NodeHandle  nh;
+
+std_msgs::UInt8 Tof1;
+ros::Publisher ("tof1", &Tof1);
+
+std_msgs::UInt8 Tof2;
+ros::Publisher tof2("tof2", &Tof2);
+
+std_msgs::UInt8 Tof3;
+ros::Publisher tof3("tof3", &Tof3);
+
+std_msgs::UInt8 Tof4;
+ros::Publisher tof4("tof4", &Tof4);
+
+//!!This needs to be a subscriber not publisher!!//
+//std_msgs::UInt8 received_speed;
+//ros::Publisher speed_publisher("speed_publisher", &received_speed);
+
+std_msgs::UInt8 the_motor_speed;
+
+void messageCb(const std_msgs::UInt8& speed){
+    the_motor_speed = speed;
+}
+ros::Subscriber<std_msgs::UInt8> sub("motor_speed", &messageCb);
+
+//void messageCb(const std_msgs::Empty& toggle_msg){
+//    myled = !myled;   // blink the led
+//}
+//ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
+
+int main() {
+////2222 -----------------------------------2222////
+    nh.initNode();
+    nh.advertise(tof1);
+    nh.advertise(tof2);
+    nh.advertise(tof3);
+    nh.advertise(tof4);
+    //!!nh.advertise(speed_publisher);
+    
+    //!!This is the subscriber, so setup the speed_publisher as speed_subscriber here!!//
+    nh.subscribe(sub);
+    
+    tof1Data.init();
+////2222 -----------------------------------2222////
+   
+    while (1) {
+////1111 put this in the matching spot in the main file 1111////
+        Tof1.data = tof1Data.Get_Range();
+        tof1.publish( &Tof1 );
+        Tof2.data = 6;
+        tof2.publish( &Tof2 );
+        Tof3.data = 7;
+        tof3.publish( &Tof3);
+        Tof4.data = 8;
+        tof4.publish( &Tof4);
+        //!! speed_publisher.publish(&the_motor_speed);
+////1111 ---------------------------------------------- 1111////
+        nh.spinOnce();
+        wait_ms(1000);
+    }
+}
+
+

--- a/main.cpp	Tue Oct 22 10:21:34 2019 +0000
+++ b/main.cpp	Thu Dec 12 19:51:42 2019 +0000
@@ -1,49 +1,42 @@
-// Changed text
-
-///////////////////////////////////////////////////////////////////
-// Beginning of code
-///////////////////////////////////////////////////////////////////
-#include "timeofflight.hpp"
-
-Serial pc(SERIAL_TX, SERIAL_RX);// set-up serial to pc
-#define addr (0x52)             // I²C address of VL6180 shifted by 1 bit
-
-VL6180 tof1(addr);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
 
-#include <ros.h>
-#include <std_msgs/String.h>
-
-ros::NodeHandle  node_chatter;
+class dumbotControl
+{
+public:
+    dumbotControl()
+    {
+        //Node handle here
+        
+        //Subscriber setup here
+        //Publihser setup here
+        ////2222 -----------------------------------2222////
+    }
 
-std_msgs::String str_msg;
-ros::Publisher chatter("chatter", &str_msg);
-
-char data[13];
-
-
+    void chatterCallback(const sensor_msgs::Joy::ConstPtr& input) // Change this variable for inputs
+    {
+        //Code to run initially when subscriber recieves data
+        ////1111 ---------------------------------------------- 1111////
+    }
 
-///////////////////////////////////////////////////////////////////
-// Main Program loop
-///////////////////////////////////////////////////////////////////
-int main()
-{
-    node_chatter.initNode();
-    node_chatter.advertise(chatter);
+protected:
+    //Declarations go here
+    
     
-    pc.printf("test\r\n");
-    int range;
+    /* example
+    ros::Publisher controller_pub;
+    ros::Subscriber button_sub;
+    sensor_msgs::Joy joy;
+    */
+};
 
-    // load settings onto VL6180X
-    tof1.Init();
-    while (1){
-        range = tof1.Get_Range();
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "main");
+    
+    dumbotControl dumbot;
 
-        // send range to pc by serial
-        sprintf(data, "Distance: %dmm", range);
-        
-        str_msg.data = data;
-        chatter.publish( &str_msg );
-        node_chatter.spinOnce();
-        wait_ms(1000);
-    }
+    ros::spin();
+
+    return 0;
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/publisherExample.cpp	Thu Dec 12 19:51:42 2019 +0000
@@ -0,0 +1,49 @@
+// Changed text
+
+///////////////////////////////////////////////////////////////////
+// Beginning of code
+///////////////////////////////////////////////////////////////////
+#include "timeofflight.hpp"
+
+Serial pc(SERIAL_TX, SERIAL_RX);// set-up serial to pc
+#define addr (0x52)             // I²C address of VL6180 shifted by 1 bit
+
+VL6180 tof1(addr);
+
+#include <ros.h>
+#include <std_msgs/String.h>
+
+ros::NodeHandle  node_chatter;
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char data[13];
+
+
+
+///////////////////////////////////////////////////////////////////
+// Main Program loop
+///////////////////////////////////////////////////////////////////
+int main()
+{
+    node_chatter.initNode();
+    node_chatter.advertise(chatter);
+    
+    pc.printf("test\r\n");
+    int range;
+
+    // load settings onto VL6180X
+    tof1.Init();
+    while (1){
+        range = tof1.Get_Range();
+
+        // send range to pc by serial
+        sprintf(data, "Distance: %dmm", range);
+        
+        str_msg.data = data;
+        chatter.publish( &str_msg );
+        node_chatter.spinOnce();
+        wait_ms(1000);
+    }
+}
\ No newline at end of file