test code of led strip for stm32

Dependencies:   mbed ros_lib_kinetic

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main.cpp

00001 #include "mbed.h"
00002 //#include "Servo.h", not neccesary 
00003 #include <ros.h>
00004 #include <std_msgs/Int16.h>
00005 #include <std_msgs/Bool.h>
00006 
00007 
00008 ros::NodeHandle nh;// create node handle(executalbe file/object)
00009 
00010 DigitalOut my_led(LED1); //trouble shootong, test led blink
00011  
00012 
00013 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
00014 
00015 //std_msgs::Int16 led_msg;
00016 
00017 int light_state= 0; // creat varaible 
00018 
00019 void led_state_callback(const std_msgs::Int16& msg)
00020 {
00021    
00022    //DigitalOut 
00023    light_state = msg.data; //
00024    //device.putc(light_state); //value that gets sent to th ctream
00025  }
00026 
00027 
00028 ros::Subscriber<std_msgs::Int16> led_state_subscriber("light_state", led_state_callback);
00029 
00030 int main() {
00031   nh.initNode();  // start node
00032   nh.subscribe(led_state_subscriber); 
00033   my_led = 0;
00034 while(1){
00035      device.putc(light_state);
00036      my_led = !my_led;
00037      nh.spinOnce();// calls all subscriber 
00038      wait_ms(5);
00039     }
00040 }