Akash Vibhute / mbed_roshydro_test

ros_serial for mbed updated to work with ROS Hydro. Library still needs to be debugged

Dependencies:   rosserial_hydro

Library and program still under development!

examples/ADC.cpp@0:cb1dffdc7d05, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:54:04 2015 +0000
Revision:
0:cb1dffdc7d05
Error: ; "mbed::Stream::Stream(const mbed::Stream &)" (declared at <a href="#" onmousedown="mbed_doc_goto('/mbed_roshydro_test//extras/mbed_e188a91d3eaa/Stream.h', '59'); return false;">/extras/mbed_e188a91d3eaa/Stream.h:59</a>) is inaccessible in "ext

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:cb1dffdc7d05 1 //#define COMPILE_ADC_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 2 #ifdef COMPILE_ADC_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 3
akashvibhute 0:cb1dffdc7d05 4 /*
akashvibhute 0:cb1dffdc7d05 5 * rosserial ADC Example
akashvibhute 0:cb1dffdc7d05 6 *
akashvibhute 0:cb1dffdc7d05 7 * This is a poor man's Oscilloscope. It does not have the sampling
akashvibhute 0:cb1dffdc7d05 8 * rate or accuracy of a commerical scope, but it is great to get
akashvibhute 0:cb1dffdc7d05 9 * an analog value into ROS in a pinch.
akashvibhute 0:cb1dffdc7d05 10 */
akashvibhute 0:cb1dffdc7d05 11
akashvibhute 0:cb1dffdc7d05 12 #include "mbed.h"
akashvibhute 0:cb1dffdc7d05 13 #include <ros.h>
akashvibhute 0:cb1dffdc7d05 14 #include <rosserial_mbed/Adc.h>
akashvibhute 0:cb1dffdc7d05 15
akashvibhute 0:cb1dffdc7d05 16 ros::NodeHandle nh;
akashvibhute 0:cb1dffdc7d05 17
akashvibhute 0:cb1dffdc7d05 18 rosserial_mbed::Adc adc_msg;
akashvibhute 0:cb1dffdc7d05 19 ros::Publisher p("adc", &adc_msg);
akashvibhute 0:cb1dffdc7d05 20
akashvibhute 0:cb1dffdc7d05 21
akashvibhute 0:cb1dffdc7d05 22
akashvibhute 0:cb1dffdc7d05 23 //We average the analog reading to elminate some of the noise
akashvibhute 0:cb1dffdc7d05 24 int averageAnalog(PinName pin) {
akashvibhute 0:cb1dffdc7d05 25 int v=0;
akashvibhute 0:cb1dffdc7d05 26 for (int i=0; i<4; i++) v+= AnalogIn(pin).read_u16();
akashvibhute 0:cb1dffdc7d05 27 return v/4;
akashvibhute 0:cb1dffdc7d05 28 }
akashvibhute 0:cb1dffdc7d05 29
akashvibhute 0:cb1dffdc7d05 30 long adc_timer;
akashvibhute 0:cb1dffdc7d05 31
akashvibhute 0:cb1dffdc7d05 32 int main() {
akashvibhute 0:cb1dffdc7d05 33 nh.initNode();
akashvibhute 0:cb1dffdc7d05 34
akashvibhute 0:cb1dffdc7d05 35 nh.advertise(p);
akashvibhute 0:cb1dffdc7d05 36
akashvibhute 0:cb1dffdc7d05 37 while (1) {
akashvibhute 0:cb1dffdc7d05 38 adc_msg.adc0 = averageAnalog(p15);
akashvibhute 0:cb1dffdc7d05 39 adc_msg.adc1 = averageAnalog(p16);
akashvibhute 0:cb1dffdc7d05 40 adc_msg.adc2 = averageAnalog(p17);
akashvibhute 0:cb1dffdc7d05 41 adc_msg.adc3 = averageAnalog(p18);
akashvibhute 0:cb1dffdc7d05 42 adc_msg.adc4 = averageAnalog(p19);
akashvibhute 0:cb1dffdc7d05 43 adc_msg.adc5 = averageAnalog(p20);
akashvibhute 0:cb1dffdc7d05 44
akashvibhute 0:cb1dffdc7d05 45 p.publish(&adc_msg);
akashvibhute 0:cb1dffdc7d05 46
akashvibhute 0:cb1dffdc7d05 47 nh.spinOnce();
akashvibhute 0:cb1dffdc7d05 48 }
akashvibhute 0:cb1dffdc7d05 49 }
akashvibhute 0:cb1dffdc7d05 50
akashvibhute 0:cb1dffdc7d05 51 #endif