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Dependencies: IMU SPI_Encoder mbed Path PID Motor Inertia ros_lib_kinetic Kinematics Mycan
Diff: main.cpp
- Revision:
- 0:8b0869cb7fa8
- Child:
- 1:0839d3bc46c2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 22 17:49:09 2019 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Float32MultiArray.h>
+#include "set.h"
+
+#define inertia M*R*R //moment of inertia
+
+float voltage;
+float resistance;
+float kt;
+float ke;
+float *w;
+float torque;
+float pwm = 1 / voltage * ((resistance * (torque) / kt) + (*w * ke));
+
+ros::NodeHandle nh;
+DigitalOut myled(LED1);
+
+float coordinate[3] = {};
+
+
+void callback(const std_msgs::Float32MultiArray& msg) {
+ int size = msg.data_length;
+ for (int i = 0; i < size; i++)
+ coordinate[i] = msg.data[i];
+}
+
+ros::Subscriber<std_msgs::Float32MultiArray> sub("bath_towel", callback);
+
+
+int main() {
+ nh.initNode();
+ nh.subscribe(sub);
+ while(1) {
+ nh.spinOnce();
+ wait_ms(1);
+ }
+}