Code to define toggle a led depending on a motor speed
Dependencies: mbed ros_lib_kinetic
Diff: main.cpp
- Revision:
- 0:80d03f06b4ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 15 09:05:09 2019 +0000
@@ -0,0 +1,32 @@
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/Int32.h>
+
+ros::NodeHandle nh;
+DigitalOut myled(LED1);
+int speed;
+
+void toggleSpeed(const std_msgs::Int32& speed_)
+{
+ speed = speed_.data;
+}
+
+ros::Subscriber<std_msgs::Int32> sub("motor_speed", &toggleSpeed);
+
+int main()
+{
+ nh.initNode();
+ nh.subscribe(sub);
+
+ while (1)
+ {
+ myled = !myled;
+ nh.spinOnce();
+
+ if (speed <= 20){wait(2.0);}
+ else if (speed <= 40){wait(1);}
+ else if (speed <= 60){wait_ms(500);}
+ else {wait_ms(100);}
+ }
+}
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