File content as of revision 2:7288dd12186e:

#include "PROJ515.hpp" // Contains all Libraries, Definitions & Function Prototypes

float cfDist1 = 0;     // Distance returned by cliff u_sensor1 (m)
float cfDist2 = 0;     // Distance returned by cliff u_sensor2 (m)
float cfDist3 = 0;     // Distance returned by cliff u_sensor3 (m)
float cfDist4 = 0;     // Distance returned by cliff u_sensor4 (m)

float cbDist1 = 0;     // Distance returned by curb  u_sensor1 (m)
float cbDist2 = 0;     // Distance returned by curb  u_sensor2 (m)
float cbDist3 = 0;     // Distance returned by curb  u_sensor3 (m)
float cbDist4 = 0;     // Distance returned by curb  u_sensor4 (m)

float wPeriod = 5;     // Wait period(ms) for ROS publisher to finish publishing


void setupRosMsg()
{/*CODE*/}

int main()
{
    //nh.getHardware()->setBaud(921600);           // Set Baud Rate for ROS Serial
//    nh.initNode();                                 // Initialise ROS Node Handler
//    nh.advertise(ultrasound_pub);                    // Adverstise Odometry topic
//       
//    ultrasound_msg.header.frame_id = "uss_cb1";
//    ultrasound_msg.radiation_type = 0x00;
//    ultrasound_msg.field_of_view = ((80*3.14159)/180); //3.14159265358979323846
//    ultrasound_msg.min_range = 0.02f;
//    ultrasound_6msg.max_range = 2.5;
//    
//    while(!nh.connected()) {                       // While node handler is not connected
//        nh.spinOnce();                             // Attempt to connect and synchronise
//    }
    
    while(true) {
        
        USS_CF1.start();
        USS_CF2.start();
        USS_CF3.start();
        USS_CF4.start();   
        
        USS_CB1.start();
        USS_CB2.start();
        USS_CB3.start();
        USS_CB4.start(); 
            
        cfDist1 = USS_CF1.get_dist_cm();
        cfDist2 = USS_CF2.get_dist_cm();
        cfDist3 = USS_CF3.get_dist_cm();
        cfDist4 = USS_CF4.get_dist_cm();
        
        cbDist1 = USS_CB1.get_dist_cm();
        cbDist2 = USS_CB2.get_dist_cm();
        cbDist3 = USS_CB3.get_dist_cm();
        cbDist4 = USS_CB4.get_dist_cm();
        
        cfDist1 = cfDist1/100;
        cfDist2 = cfDist2/100;
        cfDist3 = cfDist3/100;
        cfDist4 = cfDist4/100; 
        
        cbDist1 = cbDist1/100;
        cbDist2 = cbDist2/100;
        cbDist3 = cbDist3/100;
        cbDist4 = cbDist4/100; 
        
        usbSer.printf("Cliff 1 = %f\n", cfDist1);
        usbSer.printf("Cliff 2 = %f\n", cfDist2);
        usbSer.printf("Cliff 3 = %f\n", cfDist3);
        usbSer.printf("Cliff 4 = %f\n", cfDist4);
        
        usbSer.printf("Curb  1 = %f\n", cbDist1);
        usbSer.printf("Curb  2 = %f\n", cbDist2);
        usbSer.printf("Curb  3 = %f\n", cbDist3);
        usbSer.printf("Curb  4 = %f  ", cbDist4);
        
        wait(1);
        
        puts(""); 
        puts(""); 
        puts(""); 
        puts(""); 
        puts(""); 
        puts(""); 
        puts(""); 
        puts("");
        
        //ultrasound_msg.range = cmDistance1;// m
//        nh.spinOnce();                             // Reccuring connect and synchronise
//        ultrasound_msg.header.stamp = nh.now();      // Get current time
//        ultrasound_pub.publish(&ultrasound_msg);

        wait_ms(wPeriod);
    }
}