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Delta Battery, CAN_bus, DIO P2P, ROS
Dependencies: mbed mbed-rtos ros_lib_kinetic
Diff: main.cpp
- Revision:
- 4:b728b0359ec8
- Parent:
- 3:51194773aa7e
- Child:
- 5:52fb31c1a8c0
diff -r 51194773aa7e -r b728b0359ec8 main.cpp --- a/main.cpp Fri Apr 13 06:58:49 2018 +0000 +++ b/main.cpp Fri Apr 13 07:03:10 2018 +0000 @@ -448,17 +448,13 @@ // nh.advertise(pub_lmotor); // nh.advertise(pub_rmotor); nh.subscribe(cmd_vel_sub); -// SVON(1); -// SVON(2); + SVON(1); + SVON(2); flushSerialBuffer(); RS485.attach(&readData);//,0.25); //CheckDataR.attach(&CALL_chDataR,0.25); while(1) - { -//================================== - -//============================= - + { seq++; mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); @@ -474,10 +470,6 @@ imu_pub.publish( &imu_msg ); nh.spinOnce(); wait_ms(10); - //writing current accelerometer and gyro position - //pc.printf("%d;%d;%d;%d;%d;%d\r\n",ax,ay,az,gx,gy,gz); - -// RS485.attach(&onInterrupt,Serial::RxIrq); } } \ No newline at end of file