Dependencies: mbed ros_lib_kinetic
Revision 0:4d4dbac79356, committed 2019-05-11
- Comitter:
- Malan005
- Date:
- Sat May 11 22:59:18 2019 +0000
- Commit message:
- robosub_led_communication
Changed in this revision
diff -r 000000000000 -r 4d4dbac79356 main.cpp
--- /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);
+ }
+}
diff -r 000000000000 -r 4d4dbac79356 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat May 11 22:59:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r 4d4dbac79356 ros_lib_kinetic.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Sat May 11 22:59:18 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f