Soft robot team
/
Nucleo_ros_motor_speed
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Dependencies: mbed ros_lib_kinetic
Revision 0:80d03f06b4ce, committed 2019-10-15
- Comitter:
- florine_van
- Date:
- Tue Oct 15 09:05:09 2019 +0000
- Commit message:
- intial revision;
Changed in this revision
diff -r 000000000000 -r 80d03f06b4ce main.cpp
--- /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);}
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 80d03f06b4ce mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 15 09:05:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r 80d03f06b4ce ros_lib_kinetic.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Tue Oct 15 09:05:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f