WS2812B with ROS
Dependencies: mbed ros_lib_kinetic_led PololuLedStrip
led.h@2:f3d47d1e19c3, 2019-05-19 (annotated)
- Committer:
- Luka_Danilovic
- Date:
- Sun May 19 21:38:11 2019 +0000
- Revision:
- 2:f3d47d1e19c3
Final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Luka_Danilovic | 2:f3d47d1e19c3 | 1 | #ifndef __LED_H__ //Inclusion safeguards |
Luka_Danilovic | 2:f3d47d1e19c3 | 2 | #define __LED_H__ //Definition of the inclusion |
Luka_Danilovic | 2:f3d47d1e19c3 | 3 | /*============================================================================*/ |
Luka_Danilovic | 2:f3d47d1e19c3 | 4 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 5 | /* Libraries */ |
Luka_Danilovic | 2:f3d47d1e19c3 | 6 | #include "mbed.h" |
Luka_Danilovic | 2:f3d47d1e19c3 | 7 | #include "PololuLedStrip.h" |
Luka_Danilovic | 2:f3d47d1e19c3 | 8 | #include <string> |
Luka_Danilovic | 2:f3d47d1e19c3 | 9 | #include <ros.h> |
Luka_Danilovic | 2:f3d47d1e19c3 | 10 | #include <std_msgs/String.h> |
Luka_Danilovic | 2:f3d47d1e19c3 | 11 | #include <geometry_msgs/Twist.h> |
Luka_Danilovic | 2:f3d47d1e19c3 | 12 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 13 | /* Definitions */ |
Luka_Danilovic | 2:f3d47d1e19c3 | 14 | #define LED_COUNT 30 |
Luka_Danilovic | 2:f3d47d1e19c3 | 15 | #define LED_F_PIN PC_9 |
Luka_Danilovic | 2:f3d47d1e19c3 | 16 | #define LED_B_PIN PC_8 |
Luka_Danilovic | 2:f3d47d1e19c3 | 17 | #define MaxVelocity 0.5f |
Luka_Danilovic | 2:f3d47d1e19c3 | 18 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 19 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 20 | /* Declarations */ |
Luka_Danilovic | 2:f3d47d1e19c3 | 21 | extern rgb_color colors[]; |
Luka_Danilovic | 2:f3d47d1e19c3 | 22 | int LEDBrightness; |
Luka_Danilovic | 2:f3d47d1e19c3 | 23 | float led_tmp; |
Luka_Danilovic | 2:f3d47d1e19c3 | 24 | int led_num; |
Luka_Danilovic | 2:f3d47d1e19c3 | 25 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 26 | extern string audio_state; |
Luka_Danilovic | 2:f3d47d1e19c3 | 27 | extern float vel; |
Luka_Danilovic | 2:f3d47d1e19c3 | 28 | extern float ang; |
Luka_Danilovic | 2:f3d47d1e19c3 | 29 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 30 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 31 | /* Instantiations */ |
Luka_Danilovic | 2:f3d47d1e19c3 | 32 | PololuLedStrip ledStripFront(LED_F_PIN); |
Luka_Danilovic | 2:f3d47d1e19c3 | 33 | PololuLedStrip ledStripBack(LED_B_PIN); |
Luka_Danilovic | 2:f3d47d1e19c3 | 34 | ros::NodeHandle nh; |
Luka_Danilovic | 2:f3d47d1e19c3 | 35 | std_msgs::String status_msg; |
Luka_Danilovic | 2:f3d47d1e19c3 | 36 | ros::Publisher status_pub("status", &status_msg); |
Luka_Danilovic | 2:f3d47d1e19c3 | 37 | ros::Subscriber<std_msgs::String> AudioStatus("audio_status", &AudioStatusCB); |
Luka_Danilovic | 2:f3d47d1e19c3 | 38 | ros::Subscriber<geometry_msgs::Twist> cmd_vel_sub("cmd_vel", &cmdVelCB); |
Luka_Danilovic | 2:f3d47d1e19c3 | 39 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 40 | /* Function Prototypes */ |
Luka_Danilovic | 2:f3d47d1e19c3 | 41 | void AudioStatusCB(const std_msgs::String &status); |
Luka_Danilovic | 2:f3d47d1e19c3 | 42 | void cmdVelCB(const geometry_msgs::Twist &twist); |
Luka_Danilovic | 2:f3d47d1e19c3 | 43 | float Map(float x, float in_min, float in_max, float out_min, float out_max); |
Luka_Danilovic | 2:f3d47d1e19c3 | 44 | |
Luka_Danilovic | 2:f3d47d1e19c3 | 45 | /*============================================================================*/ |
Luka_Danilovic | 2:f3d47d1e19c3 | 46 | #endif // End of inclusion |