Soft robot team / Mbed 2 deprecated Nucleo_ros_motor_speed

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Dependencies:   mbed ros_lib_kinetic

main.cpp

Committer:
florine_van
Date:
2019-10-15
Revision:
0:80d03f06b4ce

File content as of revision 0:80d03f06b4ce:

#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);}
    }
}