Gerardo Hernandez / Mbed 2 deprecated Seadragon_motors_ros

Added the leak sensor and kill switch

Dependencies:   mbed ros_lib_kinetic

Fork of Seadragon_motors_ros by Rogelio Vazquez

Files at this revision

API Documentation at this revision

Revision 1:b07605144252, committed 2018-07-24

Comitter:
ElevatedSounds
Date:
Tue Jul 24 03:46:19 2018 +0000
Parent:
0:5c809b850f21
Commit message:
This code implement motors control with PID and a leak sensor

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Jul 23 22:02:33 2018 +0000
+++ b/main.cpp	Tue Jul 24 03:46:19 2018 +0000
@@ -55,6 +55,8 @@
 std_msgs::Int16 depth_msg;
 int depth = 0;
 //std_msgs::Bool kill_msg;
+std_msgs::Bool kill_msg;
+ros::Publisher depth_publisher("depth", &depth_msg);
 
 ros::Publisher depth_publisher("depth", &depth_msg);
 //ros::Publisher killswitch_publisher("killswitch", &kill_msg);
@@ -150,11 +152,33 @@
     nh.subscribe(yaw_pwm_subscriber);
     nh.subscribe(fb_yaw_subscriber);
     nh.subscribe(fb_depth_subscriber);
+    nh.advertise(leak_publisher);
+    nh.advertise(killSwitch_publisher);
 
     testLed = 0;
     
     while(1) 
     {
+        if(leakSensor) 
+        {
+            leak_msg.data = 1;
+        }
+        else
+        {
+            leak_msg.data = 0;
+        }
+        leak_publisher.publish(&leak_msg);
+        
+        if(killSwitchSensor) 
+        {
+            killSwitch_msg.data = 1;
+        }
+        else
+        {
+            killSwitch_msg.data = 0;
+        }
+        killSwitch_publisher.publish(&killSwitch_msg);
+        
         // If data is recieved, blink led
         if (device.readable())
         {