Diff: PROJ515.hpp

Revision:

11:955c2ed70de2

Parent:

10:7d954fba5e7a

Child:

12:1a3272d67500

--- a/PROJ515.hpp	Wed May 08 13:55:17 2019 +0000
+++ b/PROJ515.hpp	Wed May 08 14:50:32 2019 +0000
@@ -15,31 +15,33 @@
 #include "nav_msgs/Odometry.h"      // ROS Odom   Messages component
 #include "geometry_msgs/Twist.h"    // ROS Twist  Messages component
 
-
 /* Definitions */
 #define LEDS_OFF 0x00               // LED bus all off
 #define LEDS_ON  0x07               // LED bus all on
 
-#define USP_CF1T  PG_1              // Cliff ultrasound 1 Trigger
-#define USP_CF1E  PB_11             // Cliff ultrasound 1 Echo
-#define USP_CF2T  PF_9              // Cliff ultrasound 2 Trigger
-#define USP_CF2E  PB_10             // Cliff ultrasound 2 Echo
-#define USP_CF3T  PF_7              // Cliff ultrasound 3 Trigger
-#define USP_CF3E  PE_15             // Cliff ultrasound 3 Echo
-#define USP_CF4T  PF_8              // Cliff ultrasound 4 Trigger
-#define USP_CF4E  PE_12             // Cliff ultrasound 4 Echo
+#define USP_CF1T  PA_4              // Cliff ultrasound 1 Trigger
+#define USP_CF1E  PA_3              // Cliff ultrasound 1 Echo
+#define USP_CF2T  PB_0              // Cliff ultrasound 2 Trigger
+#define USP_CF2E  PA_10             // Cliff ultrasound 2 Echo
+#define USP_CF3T  PC_1              // Cliff ultrasound 3 Trigger
+#define USP_CF3E  PB_3              // Cliff ultrasound 3 Echo
+#define USP_CF4T  PC_0              // Cliff ultrasound 4 Trigger
+#define USP_CF4E  PB_5              // Cliff ultrasound 4 Echo
 
-#define USP_CB1T  PE_6              // Curb  ultrasound 1 Trigger
-#define USP_CB1E  PE_7              // Curb  ultrasound 1 Echo
-#define USP_CB2T  PE_5              // Curb  ultrasound 2 Trigger
-#define USP_CB2E  PE_8              // Curb  ultrasound 2 Echo
-#define USP_CB3T  PE_4              // Curb  ultrasound 3 Trigger
-#define USP_CB3E  PG_9              // Curb  ultrasound 3 Echo
-#define USP_CB4T  PE_2              // Curb  ultrasound 4 Trigger
-#define USP_CB4E  PG_14             // Curb  ultrasound 4 Echo
+#define USP_CB1T  PC_15              // Curb  ultrasound 1 Trigger
+#define USP_CB1E  PB_4               // Curb  ultrasound 1 Echo
+#define USP_CB2T  PC_14              // Curb  ultrasound 2 Trigger
+#define USP_CB2E  PB_10              // Curb  ultrasound 2 Echo
+#define USP_CB3T  PC_13              // Curb  ultrasound 3 Trigger
+#define USP_CB3E  PA_8               // Curb  ultrasound 3 Echo
+#define USP_CB4T  PB_7               // Curb  ultrasound 4 Trigger
+#define USP_CB4E  PA_9               // Curb  ultrasound 4 Echo
 
-#define GPS_TX    PD_5              // GPS Transmit Pin
-#define GPS_RX    PD_6              // GPS Recieve  Pin
+#define GPS_TX    PC_10             // GPS Transmit Pin
+#define GPS_RX    PC_11             // GPS Recieve  Pin
+
+#define LED_F     PB_6              // LED Strip Front Data
+#define LED_B     PC_7              // LED Strip Back  Data
 
 #define FOV       1.396             // Ultrasound sensor field of view
 #define MIN_RANGE 0.2               // Ultrasound sensor min range
@@ -62,7 +64,6 @@
 
 #define ROS_Baud  460800            // ROS Baud Rate
 #define GPS_Baud  9600              // GPS Baud Rate
-//#define frameID_u "ultrasound_range"// ROS frame ID
 #define frameID_g "gps_odom"        // ROS frame ID
 
 //#define PRINT_DATA 0x01             // Thread communication event to print data 
@@ -72,6 +73,7 @@
 using namespace ros;                // Make all ros symbols visible
 using namespace sensor_msgs;        // Make all sensor_msgs symbols visible
 using namespace std_msgs;           // Make all std_msgs symbols visible
+using namespace nav_msgs;
 using namespace Pololu;
 
 /* Declarations */
@@ -115,8 +117,8 @@
 Serial gpsSer(GPS_TX, GPS_RX);      // Instance of Serial class to gps
 
 // Instance for LED Strip
-PololuLedStrip ledStripFront();   // LED Strip Front
-PololuLedStrip ledStripBack();    // LED Strip Back
+PololuLedStrip ledStripFront(LED_F);// LED Strip Front
+PololuLedStrip ledStripBack(LED_B); // LED Strip Back
 rgb_color colors[LED_COUNT];        // RGB Colour Array
 
 // Instance for ROS node and messages
@@ -145,10 +147,6 @@
 
 Publisher gps_odom_pub("gps_odom", &gps_odom_msg);
 
-// Instance for ROS subscribers
-ros::Subscriber<std_msgs::String> AudioStatus("audio_status", &AudioStatusCB);
-ros::Subscriber<nav_msgs::Odometry> Velocity("wheel_odom/exact_odom", &VelocityCB);
-
 /* Threads and Signals */
 //Thread myThread (osPriorityNormal);
 //EventFlags myEventFlag;
@@ -162,6 +160,9 @@
 void setRosDist();                  // Put distance in ROS messages
 void setRosStamp();                 // Put time into ROS messages
 void publishRosMsg();               // Publish ROS messages
+//void AudioStatusCB(const std_msgs::String &status);
+//void VelocityCB(const nav_msgs::Odometry &odom);
+float Map(float x, float in_min, float in_max, float out_min, float out_max);
 
 /*============================================================================*/
 #endif // End of inclusion
\ No newline at end of file