Gerardo Hernandez / Mbed 2 deprecated SeaDragon0726

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Dependencies:   mbed ros_lib_kinetic

main.cpp@0:4735537ba7a7, 2018-07-25 (annotated)

Committer:
ElevatedSounds
Date:
Wed Jul 25 20:39:56 2018 +0000
Revision:
0:4735537ba7a7
Child:
1:62257cc9f659
SeaDragon 0726 Added killSwitch & leakSensor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ElevatedSounds 0:4735537ba7a7 1 #include "mbed.h"
ElevatedSounds 0:4735537ba7a7 2 #include <ros.h>
ElevatedSounds 0:4735537ba7a7 3 #include <std_msgs/Int16.h>
ElevatedSounds 0:4735537ba7a7 4 #include <std_msgs/Bool.h>
ElevatedSounds 0:4735537ba7a7 5 DigitalIn leakSensor(PC_2);
ElevatedSounds 0:4735537ba7a7 6 DigitalIn killSwitch(PC_3);
ElevatedSounds 0:4735537ba7a7 7 DigitalOut myled(LED1);
ElevatedSounds 0:4735537ba7a7 8
ElevatedSounds 0:4735537ba7a7 9 ros::NodeHandle nh;
ElevatedSounds 0:4735537ba7a7 10 std_msgs::Bool leak_msg;
ElevatedSounds 0:4735537ba7a7 11 ros::Publisher leak_publisher("leak", &leak_msg);
ElevatedSounds 0:4735537ba7a7 12 std_msgs::Bool killSwitch_msg;
ElevatedSounds 0:4735537ba7a7 13 ros::Publisher killSwitch_publisher("killSwitch", &killSwitch_msg);
ElevatedSounds 0:4735537ba7a7 14
ElevatedSounds 0:4735537ba7a7 15 int main()
ElevatedSounds 0:4735537ba7a7 16 {
ElevatedSounds 0:4735537ba7a7 17 nh.initNode();
ElevatedSounds 0:4735537ba7a7 18 nh.advertise(leak_publisher);
ElevatedSounds 0:4735537ba7a7 19 nh.advertise(killSwitch_publisher);
ElevatedSounds 0:4735537ba7a7 20
ElevatedSounds 0:4735537ba7a7 21 while (1)
ElevatedSounds 0:4735537ba7a7 22 {
ElevatedSounds 0:4735537ba7a7 23 if(leakSensor)
ElevatedSounds 0:4735537ba7a7 24 {
ElevatedSounds 0:4735537ba7a7 25 leak_msg.data = 1;
ElevatedSounds 0:4735537ba7a7 26 }
ElevatedSounds 0:4735537ba7a7 27 else
ElevatedSounds 0:4735537ba7a7 28 {
ElevatedSounds 0:4735537ba7a7 29 leak_msg.data = 0;
ElevatedSounds 0:4735537ba7a7 30 }
ElevatedSounds 0:4735537ba7a7 31 leak_publisher.publish(&leak_msg);
ElevatedSounds 0:4735537ba7a7 32
ElevatedSounds 0:4735537ba7a7 33 if(killSwitch)
ElevatedSounds 0:4735537ba7a7 34 {
ElevatedSounds 0:4735537ba7a7 35 killSwitch_msg.data = 1;
ElevatedSounds 0:4735537ba7a7 36 }
ElevatedSounds 0:4735537ba7a7 37 else
ElevatedSounds 0:4735537ba7a7 38 {
ElevatedSounds 0:4735537ba7a7 39 killSwitch_msg.data = 0;
ElevatedSounds 0:4735537ba7a7 40 }
ElevatedSounds 0:4735537ba7a7 41 killSwitch_publisher.publish(&killSwitch_msg);
ElevatedSounds 0:4735537ba7a7 42
ElevatedSounds 0:4735537ba7a7 43 nh.spinOnce();
ElevatedSounds 0:4735537ba7a7 44 wait_ms(200);
ElevatedSounds 0:4735537ba7a7 45 }
ElevatedSounds 0:4735537ba7a7 46 }