Diff: PROJ515.hpp

Revision:

0:215bdd87b602

Child:

1:ea2ee36038e7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PROJ515.hpp	Mon Apr 22 18:28:24 2019 +0000
@@ -0,0 +1,55 @@
+#ifndef __PROJ515_H__ //Inclusion safeguards
+#define __PROJ515_H__ //Definition of the inclusion
+/*============================================================================*/
+
+/* Libraries */
+#include "mbed.h"                   // Mbed RTOS
+#include "hcsr04.h"                 // HCSR04 ultrasound sensor libary
+#include "ros.h"                    // ROS Library
+#include "sensor_msgs/Range.h"      // ROS Sensor Messages component
+//#include "std_msgs/Char.h"        // ROS Standard Messages component
+
+
+/* Definitions */
+#define LEDS_OFF 0x00               // LED bus all off
+#define LEDS_ON  0x07               // LED bus all on
+#define ULS_EC   PC_10              // Ultrasound Trigger Pin
+#define ULS_TG   PC_11              // Ultrasound Echo Pin
+
+#define ROS_Baud 921600             // ROS Baud Rate
+#define frameID "ultrasound_range"  // ROS frame ID
+
+#define ULTRASOUND  0x00            // Ultrasound
+#define PRINT_DATA 0x01             // Thread communication event to print data 
+
+/* Declarations */
+extern unsigned int cmDistance1;    // Distance measured by u_sensor_1 in cm
+extern float sPeriod;               // Sampling period of the sensors (sec)
+
+/* GPIO */
+DigitalIn bttn(USER_BUTTON);        // Onboard blue user button
+BusOut leds(LED1, LED2, LED3);      // Onboard LEDs bus
+
+/* Instantiations */
+HCSR04 usensor1(ULS_TG,ULS_EC);     // Ultrasound sensor 1
+Serial usbSer(USBTX, USBRX);        // Serial over USB OTG
+NodeHandle nh;                      // Instance for ROS Node Handler
+Range ultrasound_msg;               // Instance for ROS NavSatFix message
+// Instance for ROS publisher (Odometry Message)
+Publisher ultrasound_pub("ultrasound_range", &ultrasound_msg); 
+
+/* Namespaces */
+using namespace std;                // Make all std symbols visible
+using namespace ros;                // Make all ros symbols visible
+using namespace sensor_msgs;        // Make all sensor_msgs symbols visible
+using namespace std_msgs;           // Make all sdt_msgs symbols visible
+
+/* Threads and Signals */
+//Thread myThread (osPriorityNormal);
+//EventFlags myEventFlag;
+
+/* Function Prototypes */
+//void myFunctionPrototype();
+
+/*============================================================================*/
+#endif // End of inclusion
\ No newline at end of file