Diff: main.cpp

Revision:

0:4d4dbac79356

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 11 22:59:18 2019 +0000
@@ -0,0 +1,40 @@
+#include "mbed.h"
+//#include "Servo.h", not neccesary 
+#include <ros.h>
+#include <std_msgs/Int16.h>
+#include <std_msgs/Bool.h>
+
+
+ros::NodeHandle nh;// create node handle(executalbe file/object)
+
+DigitalOut my_led(LED1); //trouble shootong, test led blink
+ 
+
+RawSerial device(PA_15,PB_7); //begin communication on these pins on stm32,(connect to Rx1 and Tx1 (18,19) communication bus, on arduino mega 2560
+
+//std_msgs::Int16 led_msg;
+
+int light_state= 0; // creat varaible 
+
+void led_state_callback(const std_msgs::Int16& msg)
+{
+   
+   //DigitalOut 
+   light_state = msg.data; //
+   //device.putc(light_state); //value that gets sent to th ctream
+ }
+
+
+ros::Subscriber<std_msgs::Int16> led_state_subscriber("light_state", led_state_callback);
+
+int main() {
+  nh.initNode();  // start node
+  nh.subscribe(led_state_subscriber); 
+  my_led = 0;
+while(1){
+     device.putc(light_state);
+     my_led = !my_led;
+     nh.spinOnce();// calls all subscriber 
+     wait_ms(5);
+    }
+}