Diff: variables/instanceHeader.hpp

Revision:

1:2594a70c1ddd

Parent:

0:4ff8aeb3e4d1

Child:

2:0de4854743f7

--- a/variables/instanceHeader.hpp	Fri Apr 02 05:24:49 2021 +0000
+++ b/variables/instanceHeader.hpp	Wed May 26 05:26:16 2021 +0000
@@ -31,9 +31,10 @@
 ros::Publisher Bluetooth_publisher("autocharge_state_INO", &Bluetooth_msg);
 
 // Subscriber
-void ModuleControlCB(const zetabot_main::ModuleControlMsgs& msg);
-ros::Subscriber<zetabot_main::ModuleControlMsgs> ModuleControl_subscriber("module_control_NUC",ModuleControlCB);
-zetabot_main::ModuleControlMsgs moduleControlMsg;
+
+//void UVCcontrolCB(const std_msgs::Bool& msg);
+//ros::Subscriber<std_msgs::Bool> UVCcontrol_subscriber("uvc_control_command",UVCcontrolCB);
+//std_msgs::Bool UVCcontrolMsg;
 
 void BluetoothCB(const std_msgs::UInt8& msg);
 ros::Subscriber<std_msgs::UInt8> Bluetooth_subscriber("autocharge_state_NUC", &BluetoothCB);
@@ -47,22 +48,22 @@
 
 /* Modules ------------------------------------------------------------------ */
 // Driving non-related modules
-extern MODULE module;
+//extern UVC uvc;
 RELAY relay(CHARGE_RELAYP,CHARGE_RELAYN);
 // Driving related modules
 
 MPU9250_SPI mpu(IMU_MOSI, IMU_MISO, IMU_SCK, IMU_NCS, IMU_INT);
 
 HCSR04 sonar[NUM_SONAR] = {
-    HCSR04(SONAR0_ECHO, SONAR0_TRIG, SONAR_FILTER_WS), HCSR04(SONAR1_ECHO, SONAR1_TRIG, SONAR_FILTER_WS),
-    HCSR04(SONAR2_ECHO, SONAR2_TRIG, SONAR_FILTER_WS), HCSR04(SONAR3_ECHO, SONAR3_TRIG, SONAR_FILTER_WS),
-    HCSR04(SONAR4_ECHO, SONAR4_TRIG, SONAR_FILTER_WS,1), HCSR04(SONAR5_ECHO, SONAR5_TRIG, SONAR_FILTER_WS,1),
-    HCSR04(SONAR6_ECHO, SONAR6_TRIG, SONAR_FILTER_WS), HCSR04(SONAR7_ECHO, SONAR7_TRIG, SONAR_FILTER_WS),
-    HCSR04(SONAR8_ECHO, SONAR8_TRIG, SONAR_FILTER_WS), HCSR04(SONAR9_ECHO, SONAR9_TRIG, SONAR_FILTER_WS),
-    HCSR04(SONAR10_ECHO, SONAR10_TRIG, SONAR_FILTER_WS)
+    HCSR04(SONAR_ECHO0, SONAR_TRIG0, SONAR_FILTER_WS,1), HCSR04(SONAR_ECHO1, SONAR_TRIG0, SONAR_FILTER_WS,2),
+    HCSR04(SONAR_ECHO2, SONAR_TRIG0, SONAR_FILTER_WS,3), HCSR04(SONAR_ECHO3, SONAR_TRIG0, SONAR_FILTER_WS,4),
+    HCSR04(SONAR_ECHO4, SONAR_TRIG0, SONAR_FILTER_WS,5), HCSR04(SONAR_ECHO5, SONAR_TRIG0, SONAR_FILTER_WS,6),
+    HCSR04(SONAR_ECHO6, SONAR_TRIG0, SONAR_FILTER_WS,7), HCSR04(SONAR_ECHO7, SONAR_TRIG0, SONAR_FILTER_WS,8),
+    HCSR04(SONAR_ECHO8, SONAR_TRIG0, SONAR_FILTER_WS,9), HCSR04(SONAR_ECHO9, SONAR_TRIG0, SONAR_FILTER_WS,10)
     };
+SONAR_MANAGER sonar_manager(SONAR_TRIG0, sonar, NUM_SONAR);
 
-EStop estop(ESTOP_PIN);
+EStop estop(EMERGENCY);
 
 /* For test ----------------------------------------------------------------- */