ichinoseki_Bteam_2019 / Mbed 2 deprecated ArmNode

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Dependencies:   IMU SPI_Encoder mbed Path PID Motor Inertia ros_lib_kinetic Kinematics Mycan

main.cpp

Committer:
Kirua
Date:
2019-07-22
Revision:
0:8b0869cb7fa8
Child:
1:0839d3bc46c2

File content as of revision 0:8b0869cb7fa8:

#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);
    }
}