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Branch for servo motor
Dependencies: MPU6050-DMP mbed ros_lib_kinetic
Fork of AGV_SMT by
Diff: main.cpp
- Revision:
- 8:4974fc24fbd7
- Parent:
- 7:1a234f02746f
- Child:
- 9:f9e9662d26bf
diff -r 1a234f02746f -r 4974fc24fbd7 main.cpp --- a/main.cpp Thu May 10 08:16:14 2018 +0000 +++ b/main.cpp Tue May 15 00:46:30 2018 +0000 @@ -9,7 +9,7 @@ #include <ros.h> #include <ros/time.h> -#include <std_msgs/Empty.h> +#include <std_msgs/Int16.h> #include <std_msgs/String.h> #include <std_msgs/Float32.h> #include <sensor_msgs/BatteryState.h> @@ -46,6 +46,10 @@ DigitalOut Receiver(D7); //RS485_E DigitalOut CAN_T(D14); DigitalOut CAN_R(D15); +DigitalOut DO_0(PC_8); +DigitalOut DO_1(PC_9); +DigitalIn DI_0(PB_13); + //CAN can1(PB_8,PB_9); // CAN Rx pin name, CAN Tx pin name //CANMsg rxMsg; //CANMessage rxMsg; @@ -53,17 +57,52 @@ MPU6050 mpu;//(PB_7,PB_6); // sda, scl pin +ros::NodeHandle nh; +//====================================================================== tiny_msgs::tinyIMU imu_msg; -std_msgs::String str_msg; +ros::Publisher imu_pub("tinyImu", &imu_msg); +//====================================================================== + +//====================================================================== std_msgs::Float32 VelAngular_L; +ros::Publisher pub_lmotor("pub_lmotor", &VelAngular_L); +//====================================================================== + +//====================================================================== std_msgs::Float32 VelAngular_R; +ros::Publisher pub_rmotor("pub_rmotor", &VelAngular_R); +//====================================================================== + +//====================================================================== sensor_msgs::BatteryState BTState; +ros::Publisher BT_pub("BatteryState", &BTState); +//====================================================================== -ros::NodeHandle nh; -ros::Publisher imu_pub("tinyImu", &imu_msg); -ros::Publisher pub_lmotor("pub_lmotor", &VelAngular_L); -ros::Publisher pub_rmotor("pub_rmotor", &VelAngular_R); -ros::Publisher BT_pub("BatteryState", &BTState); +//====================================================================== +std_msgs::Int16 DI; +ros::Publisher DI_pub("DI_pub", &DI); +//====================================================================== + +//====================================================================== +std_msgs::Int16 DO; + +void DO_ACT(const std_msgs::Int16 &msg){ + if (msg.data & 0x01){ + DO_0 = 1; + } + else{ + DO_0 = 0; + } + + if (msg.data & 0x02){ + DO_1 = 1; + } + else{ + DO_1 = 0; + } +} +ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DO_ACT); +//====================================================================== uint32_t seq; #define IMU_FIFO_RATE_DIVIDER 0x09 @@ -87,15 +126,17 @@ uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; int16_t ax, ay, az; int16_t gx, gy, gz; - float Lrpm,Rrpm; - float ticks_since_target; - double timeout_ticks; +float Lrpm,Rrpm; +float ticks_since_target; +double timeout_ticks; double w; double rate; double Dimeter; float dx,dy,dr; - +int lastButtonState = 1; +int buttonState; +int db_conter = 0; int buffer[9] = {0}; int dataH,datanum; //=========RS485 @@ -387,13 +428,19 @@ } //======================================================= bool Init() { + DO_0 = 0; + DO_1 = 0; + seq = 0; nh.initNode(); nh.advertise(imu_pub); nh.advertise(pub_lmotor); nh.advertise(pub_rmotor); nh.advertise(BT_pub); + nh.advertise(DI_pub); nh.subscribe(cmd_vel_sub); + nh.subscribe(ACT_sub); + mpu.initialize(); if (mpu.testConnection()) { // pc.printf("MPU6050 test connection passed.\n"); @@ -428,6 +475,7 @@ RS232.baud(PC_BAUDRATE); MBED_ASSERT(Init() == true); CANMessage rxMsg; + DI_0.mode(PullUp); CAN_T = 0; CAN_R = 0; wait_ms(50); @@ -451,6 +499,26 @@ imu_msg.gyro.z = gz; // imu_pub.publish( &imu_msg ); + //============DI================== + int reading = DI_0; + if (reading == lastButtonState) { + db_conter = db_conter+1; + } + else{ + db_conter = 0; + } + + if (db_conter > 3) { +// if (reading != buttonState) { + buttonState = reading; + DI.data = buttonState; +// } + } + + lastButtonState = reading; + DI_pub.publish( &DI); + + //========================================= if (can1.read(rxMsg) && (t.read_ms() > 5000)) { // RS232.printf(" ID = 0x%.3x\r\n", rxMsg.id);