nakashima Kohei / Mbed 2 deprecated SHIPBOT_LATEST

2021年地区大会船ロボット「明石工船」 import時ライブラリの更新をしないでください

Dependencies:   mbed arrc_mbed BNO055 take_mbed_old SDFileSystem ros_lib_melodic_buffer_increase

main.cpp@8:49f527ad271c, 2021-10-28 (annotated)

Committer:
hamohamo
Date:
Thu Oct 28 08:53:16 2021 +0000
Revision:
8:49f527ad271c
Parent:
7:2e578dbe3a81
Child:
9:9789153af55d
asd;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:f80bb69e638e 1 #define USESCRP
hamohamo 0:f80bb69e638e 2 #include "core.hpp"
hamohamo 0:f80bb69e638e 3 #include "SDFileSystem.h"
hamohamo 0:f80bb69e638e 4 #include "BNO055.h"
hamohamo 0:f80bb69e638e 5 #include <cmath>
hamohamo 0:f80bb69e638e 6 #include <vector>
hamohamo 4:0038da6cdc9a 7 #include <ros.h>
hamohamo 4:0038da6cdc9a 8 #include <std_msgs/Int16.h>
hamohamo 0:f80bb69e638e 9
hamohamo 0:f80bb69e638e 10 #include "mbed.h"
hamohamo 8:49f527ad271c 11 #define POINTS 700
hamohamo 8:49f527ad271c 12 #define ISLAND 702
hamohamo 8:49f527ad271c 13 const double X0 = 442.5;
hamohamo 8:49f527ad271c 14 const double Y0 = 628.5;
hamohamo 0:f80bb69e638e 15
hamohamo 0:f80bb69e638e 16
hamohamo 0:f80bb69e638e 17 /*--------------FUNCTION--------------*/
hamohamo 1:aa9cc4250220 18 bool init();
hamohamo 0:f80bb69e638e 19 void route_read();
hamohamo 4:0038da6cdc9a 20 void spinonce();
hamohamo 0:f80bb69e638e 21 void getPoint(Position *p,int n);
hamohamo 0:f80bb69e638e 22 void getVelocity(double *v,int n);
hamohamo 0:f80bb69e638e 23 bool incircle(Position pos,Position target,double error);
hamohamo 0:f80bb69e638e 24 void gyroA(double theta);
hamohamo 0:f80bb69e638e 25 void gyroB(double theta);
hamohamo 0:f80bb69e638e 26 bool checkMOT12(int rx_data, int &tx_data);
hamohamo 0:f80bb69e638e 27 bool checkMOT34(int rx_data, int &tx_data);
hamohamo 4:0038da6cdc9a 28 void getPixel(const std_msgs::Int16& pix);
hamohamo 0:f80bb69e638e 29
hamohamo 0:f80bb69e638e 30
hamohamo 0:f80bb69e638e 31 /*--------------VARIABLE--------------*/
hamohamo 0:f80bb69e638e 32
hamohamo 0:f80bb69e638e 33 std::vector<double> t_info,x_info,y_info,v_info,theta_info;
hamohamo 4:0038da6cdc9a 34 Position pos,vel,NextP,subP;
hamohamo 0:f80bb69e638e 35 int n=1;
hamohamo 7:2e578dbe3a81 36 int cnt = 0;
hamohamo 0:f80bb69e638e 37 double v=0.0;
hamohamo 0:f80bb69e638e 38 double theta = 0.0;
hamohamo 0:f80bb69e638e 39 double gyro = 0.0;
hamohamo 4:0038da6cdc9a 40 int pixel = 0.0;
hamohamo 0:f80bb69e638e 41 bool gyro_1 = false,gyro_2 = false;
hamohamo 0:f80bb69e638e 42 long long g_pulse;
hamohamo 0:f80bb69e638e 43 bool MOT12 = false,MOT34 = false;
hamohamo 0:f80bb69e638e 44
hamohamo 0:f80bb69e638e 45 BNO055 bno(PB_3, PB_10);
hamohamo 0:f80bb69e638e 46
hamohamo 4:0038da6cdc9a 47 ros::NodeHandle nh;
hamohamo 4:0038da6cdc9a 48 Ticker rosspin;
hamohamo 4:0038da6cdc9a 49
hamohamo 0:f80bb69e638e 50 SDFileSystem sd(PB_15, PB_14, PB_13, PB_1,"sd");// mosi, miso, sclk, cs
minamikawa 5:aee4416b0d4f 51 //ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
minamikawa 5:aee4416b0d4f 52 ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800);
hamohamo 0:f80bb69e638e 53 Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
hamohamo 0:f80bb69e638e 54 Core RBT(&AKASHIKOSEN,&scrp,OMNI4,0.02);
hamohamo 0:f80bb69e638e 55
minamikawa 5:aee4416b0d4f 56 ros::Subscriber<std_msgs::Int16> sub("unti", &getPixel);
minamikawa 5:aee4416b0d4f 57
minamikawa 5:aee4416b0d4f 58 int x=1;
hamohamo 4:0038da6cdc9a 59
hamohamo 0:f80bb69e638e 60 int main(){
minamikawa 5:aee4416b0d4f 61
minamikawa 5:aee4416b0d4f 62 DigitalOut hoge(PB_2);
minamikawa 5:aee4416b0d4f 63 hoge = x;
minamikawa 5:aee4416b0d4f 64
hamohamo 7:2e578dbe3a81 65 PwmOut servo(PA_0);
hamohamo 4:0038da6cdc9a 66 PwmOut ok(PC_6);
hamohamo 0:f80bb69e638e 67
hamohamo 0:f80bb69e638e 68 /*--------------SETUP--------------*/
hamohamo 4:0038da6cdc9a 69
hamohamo 7:2e578dbe3a81 70 servo.period_ms(2048);
hamohamo 7:2e578dbe3a81 71 servo.pulsewidth_us(1500);
hamohamo 7:2e578dbe3a81 72
hamohamo 4:0038da6cdc9a 73 nh.getHardware()->setBaud(115200);
hamohamo 4:0038da6cdc9a 74 nh.initNode();
hamohamo 4:0038da6cdc9a 75 nh.subscribe(sub);
minamikawa 5:aee4416b0d4f 76 rosspin.attach_us(&spinonce,1000);
hamohamo 4:0038da6cdc9a 77
hamohamo 4:0038da6cdc9a 78 scrp.addCMD(7,checkMOT12);
hamohamo 4:0038da6cdc9a 79 scrp.addCMD(8,checkMOT34);
hamohamo 4:0038da6cdc9a 80 AKASHIKOSEN.setCWID(1,2,3,4);
hamohamo 4:0038da6cdc9a 81 AKASHIKOSEN.setSWID(5,6,7,8);
hamohamo 4:0038da6cdc9a 82
hamohamo 4:0038da6cdc9a 83 RBT.addENC(PC_4,PA_13,512,4,1);
hamohamo 4:0038da6cdc9a 84 RBT.addENC(PA_14,PA_15,512,4,2);
hamohamo 4:0038da6cdc9a 85 RBT.addENC(PC_2,PC_3,512,4,3);
hamohamo 4:0038da6cdc9a 86 RBT.addENC(PC_10,PC_11,512,4,4);
hamohamo 4:0038da6cdc9a 87 RBT.addENC(PA_7,PA_6,512,4,5);
hamohamo 4:0038da6cdc9a 88 RBT.addENC(PA_9,PA_8,512,4,6);
hamohamo 4:0038da6cdc9a 89 RBT.addENC(PC_1,PC_0,512,4,7);
hamohamo 4:0038da6cdc9a 90 RBT.addENC(PC_5,PA_12,512,4,8);
hamohamo 0:f80bb69e638e 91
hamohamo 4:0038da6cdc9a 92 RBT.addPID(0.0048,0.001,0.00008,1)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 93 RBT.addPID(0.0048,0.001,0.00008,2)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 94 RBT.addPID(0.0048,0.001,0.00008,3)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 95 RBT.addPID(0.0048,0.001,0.00008,4)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 96 RBT.addPID(0.8,0.00,0.0,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 8:49f527ad271c 97 RBT.addPID(0.007,0.00,0.0,0)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 98 //RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 99 /*
hamohamo 4:0038da6cdc9a 100 RBT.addPID(0.0048,0.00,0.0000,1)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 101 RBT.addPID(0.0048,0.00,0.0000,2)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 102 RBT.addPID(0.0048,0.00,0.00,3)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 103 RBT.addPID(0.0048,0.00,0.00,4)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 104 RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 105 */
hamohamo 4:0038da6cdc9a 106 MOT12 = false,MOT34 = false;
hamohamo 4:0038da6cdc9a 107
hamohamo 4:0038da6cdc9a 108 while(init());
hamohamo 4:0038da6cdc9a 109 printf("SCRP_CHECKING MOT12:%d,MOT34:%d\n",MOT12,MOT34);
hamohamo 4:0038da6cdc9a 110 route_read();
hamohamo 4:0038da6cdc9a 111
hamohamo 4:0038da6cdc9a 112 wait(1);
hamohamo 4:0038da6cdc9a 113 ok = 1.0;
hamohamo 0:f80bb69e638e 114
hamohamo 4:0038da6cdc9a 115 bool setup = false;
minamikawa 5:aee4416b0d4f 116 bool once = false;
hamohamo 8:49f527ad271c 117 bool xy_stop = false;
hamohamo 8:49f527ad271c 118 bool rad_stop = false;
hamohamo 4:0038da6cdc9a 119 if(!setup){
hamohamo 4:0038da6cdc9a 120 bno.reset();
hamohamo 4:0038da6cdc9a 121 bno.setmode(OPERATION_MODE_IMUPLUS);
hamohamo 4:0038da6cdc9a 122 setup = true;
hamohamo 0:f80bb69e638e 123 }
hamohamo 4:0038da6cdc9a 124
hamohamo 4:0038da6cdc9a 125 RBT.START();
hamohamo 4:0038da6cdc9a 126 RBT.setPosition(0.0,0.0,0.0);
hamohamo 4:0038da6cdc9a 127 /*--------------LOOP--------------*/
hamohamo 4:0038da6cdc9a 128 while(true){
minamikawa 5:aee4416b0d4f 129 hoge = x;
hamohamo 8:49f527ad271c 130 pos = RBT.getStatus(true);
hamohamo 4:0038da6cdc9a 131 bno.get_angles();
hamohamo 4:0038da6cdc9a 132 gyro = 2.0*M_PI - bno.euler.yaw * (M_PI / 180.0);
hamohamo 4:0038da6cdc9a 133 gyroA(gyro);
hamohamo 4:0038da6cdc9a 134 gyroB(gyro);
hamohamo 4:0038da6cdc9a 135
hamohamo 4:0038da6cdc9a 136 theta = 2.0*M_PI*(int)(g_pulse/4.0);
hamohamo 4:0038da6cdc9a 137 if(g_pulse > 0.0) theta += gyro;
hamohamo 4:0038da6cdc9a 138 else if(g_pulse < 0.0) theta += gyro-2.0*M_PI;
hamohamo 4:0038da6cdc9a 139 else if(g_pulse == 0 and gyro < M_PI/2.0) theta += gyro;
hamohamo 4:0038da6cdc9a 140 else if(g_pulse == 0 and gyro > 3.0*M_PI/2.0) theta += gyro-2.0*M_PI;
hamohamo 8:49f527ad271c 141 RBT.setPosition(pos.x,pos.y,theta);
hamohamo 8:49f527ad271c 142 if(!once){
hamohamo 8:49f527ad271c 143 RBT.setPosition(X0,Y0,0.0);
minamikawa 5:aee4416b0d4f 144 once = true;
hamohamo 8:49f527ad271c 145 }
hamohamo 4:0038da6cdc9a 146
hamohamo 4:0038da6cdc9a 147 //RBT.setVelocity(0.0,0.0,0.0);
hamohamo 4:0038da6cdc9a 148 if(n<POINTS and
hamohamo 4:0038da6cdc9a 149 ( (incircle(pos,NextP,40.0) and n < POINTS and n != 1000 and n != ISLAND) or
hamohamo 4:0038da6cdc9a 150 ( incircle(pos,NextP,10.0) and n == 1000 ) or
minamikawa 5:aee4416b0d4f 151 ( sqrt( (NextP.x-pos.x)*(NextP.x-pos.x)+(NextP.y-pos.y)*(NextP.y-pos.y) ) > sqrt( (subP.x-pos.x)*(subP.x-pos.x)+(subP.y-pos.y)*(subP.y-pos.y) ) and n < POINTS and n != ISLAND)
hamohamo 4:0038da6cdc9a 152 )
hamohamo 4:0038da6cdc9a 153 )
hamohamo 4:0038da6cdc9a 154 {
hamohamo 4:0038da6cdc9a 155 n++;
hamohamo 4:0038da6cdc9a 156 getPoint(&NextP,n);
hamohamo 8:49f527ad271c 157 //NextP.theta -= M_PI/2.0;
hamohamo 4:0038da6cdc9a 158 getVelocity(&v,n-1);
hamohamo 4:0038da6cdc9a 159 if(n < POINTS)getPoint(&subP,n+1);
hamohamo 8:49f527ad271c 160 if(v > 0.0) v *= 1.0;
hamohamo 4:0038da6cdc9a 161 if(v >= 1400) v = 1400;
hamohamo 4:0038da6cdc9a 162 //v = 20.0;
hamohamo 4:0038da6cdc9a 163 if(n == POINTS) v = 20.0;
hamohamo 4:0038da6cdc9a 164 printf("%d:pass\n",n);
hamohamo 4:0038da6cdc9a 165 }
hamohamo 4:0038da6cdc9a 166
hamohamo 4:0038da6cdc9a 167 double etheta = atan2(NextP.y-pos.y,NextP.x-pos.x);
hamohamo 4:0038da6cdc9a 168 RBT.PIDs[5]->Update(pos.theta,NextP.theta,0.02,false);
hamohamo 4:0038da6cdc9a 169 vel.theta = RBT.PIDs[5]->getmv();
hamohamo 4:0038da6cdc9a 170
hamohamo 8:49f527ad271c 171 xy_stop = false;
hamohamo 8:49f527ad271c 172 rad_stop = false;
hamohamo 7:2e578dbe3a81 173
hamohamo 8:49f527ad271c 174 RBT.PIDs[0]->Update(pixel,0,0.02,false);
hamohamo 8:49f527ad271c 175 if(n == ISLAND and incircle(pos,NextP,30.0) and abs(pixel) > 40){
hamohamo 8:49f527ad271c 176 xy_stop = true;
hamohamo 4:0038da6cdc9a 177 vel.theta = RBT.PIDs[0]->getmv();
hamohamo 7:2e578dbe3a81 178 servo.pulsewidth_us(1500);
hamohamo 7:2e578dbe3a81 179 cnt = 0;
hamohamo 4:0038da6cdc9a 180 }
hamohamo 8:49f527ad271c 181 /*
hamohamo 8:49f527ad271c 182 if(n == ISLAND and incircle(pos,NextP,30.0) and pixel < -40){
hamohamo 8:49f527ad271c 183 xy_stop = true;
hamohamo 8:49f527ad271c 184 vel.theta = 0.5;
hamohamo 8:49f527ad271c 185 cnt = 0;
hamohamo 8:49f527ad271c 186 }
hamohamo 8:49f527ad271c 187 else if(n == ISLAND and incircle(pos,NextP,30.0) and pixel > 40){
hamohamo 8:49f527ad271c 188 xy_stop = true;
hamohamo 8:49f527ad271c 189 vel.theta = -0.5;
hamohamo 8:49f527ad271c 190 cnt = 0;
hamohamo 8:49f527ad271c 191 }*/
hamohamo 8:49f527ad271c 192 else if(n == ISLAND and incircle(pos,NextP,30.0)){cnt++;xy_stop = true;rad_stop = true;if((double)cnt > 3.0/0.02) servo.pulsewidth_us(1170);}
hamohamo 4:0038da6cdc9a 193
hamohamo 8:49f527ad271c 194 if(n == POINTS and incircle(pos,NextP,1.0)) xy_stop = true;
hamohamo 8:49f527ad271c 195 if(n == POINTS and fabs(NextP.theta - pos.theta) < 0.1) rad_stop = true;;
hamohamo 4:0038da6cdc9a 196
hamohamo 4:0038da6cdc9a 197 vel.x = v*cos(etheta);
hamohamo 4:0038da6cdc9a 198 vel.y = v*sin(etheta);
hamohamo 8:49f527ad271c 199 if(xy_stop) {vel.x = 0.0;vel.y = 0.0;}
hamohamo 8:49f527ad271c 200 if(rad_stop) {vel.theta = 0.0;}
hamohamo 4:0038da6cdc9a 201
hamohamo 4:0038da6cdc9a 202 RBT.sendVelocity(vel.x,vel.y,vel.theta);
hamohamo 4:0038da6cdc9a 203 printf("x:%lf,y:%lf,theta:%lf,n:%d\n",pos.x,pos.y,pos.theta,n);
minamikawa 5:aee4416b0d4f 204 nh.spinOnce();
hamohamo 4:0038da6cdc9a 205 RBT.LOOP();
hamohamo 4:0038da6cdc9a 206 }
hamohamo 0:f80bb69e638e 207 }
hamohamo 0:f80bb69e638e 208
hamohamo 0:f80bb69e638e 209 void route_read() {
hamohamo 0:f80bb69e638e 210 static double x, y, v, theta_;
hamohamo 0:f80bb69e638e 211 wait(1);
hamohamo 0:f80bb69e638e 212 printf("Hello World!\n");
hamohamo 0:f80bb69e638e 213 wait(0.1);
hamohamo 0:f80bb69e638e 214 FILE *fp;
hamohamo 0:f80bb69e638e 215 do {
hamohamo 0:f80bb69e638e 216 fp = fopen("/sd/route.txt", "r");
hamohamo 0:f80bb69e638e 217 wait(0.2);
hamohamo 0:f80bb69e638e 218 } while(fp==NULL);
hamohamo 0:f80bb69e638e 219 printf("Good!\n");
hamohamo 0:f80bb69e638e 220 while(fscanf(fp,"%lf %lf %lf %lf",&x, &y, &v, &theta_) != EOF) {
hamohamo 0:f80bb69e638e 221 printf("%lf %lf %lf %lf\n",x, y, v, theta_);
hamohamo 8:49f527ad271c 222 x_info.push_back(x*1.0);
hamohamo 8:49f527ad271c 223 y_info.push_back(y*1.0);
hamohamo 0:f80bb69e638e 224 v_info.push_back(v);
hamohamo 0:f80bb69e638e 225 theta_info.push_back(theta_);
hamohamo 0:f80bb69e638e 226 }
hamohamo 0:f80bb69e638e 227 printf("checking...\n");
hamohamo 0:f80bb69e638e 228 for(int k=0;k<x_info.size();k++){
hamohamo 0:f80bb69e638e 229 printf("%lf %lf %lf %lf\n",x_info[k],y_info[k],v_info[k],theta_info[k]);
hamohamo 0:f80bb69e638e 230 }
hamohamo 0:f80bb69e638e 231 fclose(fp);
hamohamo 0:f80bb69e638e 232 }
hamohamo 0:f80bb69e638e 233
hamohamo 0:f80bb69e638e 234 void getPoint(Position *p,int n){
hamohamo 0:f80bb69e638e 235 p->x = x_info[n];
hamohamo 0:f80bb69e638e 236 p->y = y_info[n];
hamohamo 0:f80bb69e638e 237 p->theta = theta_info[n];
hamohamo 0:f80bb69e638e 238 }
hamohamo 0:f80bb69e638e 239
hamohamo 0:f80bb69e638e 240 void getVelocity(double *v,int n){
hamohamo 0:f80bb69e638e 241 *v = v_info[n];
hamohamo 0:f80bb69e638e 242 }
hamohamo 0:f80bb69e638e 243
hamohamo 0:f80bb69e638e 244 bool incircle(Position pos,Position target,double error){
hamohamo 0:f80bb69e638e 245 return (sqrt( (target.x-pos.x)*(target.x-pos.x)+(target.y-pos.y)*(target.y-pos.y) ) < error);
hamohamo 0:f80bb69e638e 246 }
hamohamo 0:f80bb69e638e 247 void gyroA(double theta){
hamohamo 0:f80bb69e638e 248 static bool prev = false;
hamohamo 0:f80bb69e638e 249 if(0 <= theta and theta < M_PI) gyro_1 = false;
hamohamo 0:f80bb69e638e 250 else gyro_1 = true;
hamohamo 0:f80bb69e638e 251 if(gyro_1 and !prev){
hamohamo 0:f80bb69e638e 252 if(gyro_2) g_pulse++;
hamohamo 0:f80bb69e638e 253 else if(g_pulse != 0) g_pulse--;
hamohamo 0:f80bb69e638e 254 }
hamohamo 0:f80bb69e638e 255 else if(!gyro_1 and prev){
hamohamo 0:f80bb69e638e 256 if(gyro_2) g_pulse--;
hamohamo 0:f80bb69e638e 257 else if(g_pulse != 0)g_pulse++;
hamohamo 0:f80bb69e638e 258 }
hamohamo 0:f80bb69e638e 259 prev = gyro_1;
hamohamo 0:f80bb69e638e 260 }
hamohamo 0:f80bb69e638e 261 void gyroB(double theta){
hamohamo 0:f80bb69e638e 262 static bool prev = false;
hamohamo 0:f80bb69e638e 263 if((3.0*M_PI/2 <= theta and theta <= 2*M_PI) or (theta < M_PI/2.0)) gyro_2 = false;
hamohamo 0:f80bb69e638e 264 else gyro_2 = true;
hamohamo 0:f80bb69e638e 265 if(gyro_2 and !prev){
hamohamo 0:f80bb69e638e 266 if(gyro_1) g_pulse--;
hamohamo 0:f80bb69e638e 267 else g_pulse++;
hamohamo 0:f80bb69e638e 268 }
hamohamo 0:f80bb69e638e 269 else if(!gyro_2 and prev){
hamohamo 0:f80bb69e638e 270 if(gyro_1) g_pulse++;
hamohamo 0:f80bb69e638e 271 else g_pulse--;
hamohamo 0:f80bb69e638e 272 }
hamohamo 0:f80bb69e638e 273 prev = gyro_2;
hamohamo 0:f80bb69e638e 274 }
hamohamo 0:f80bb69e638e 275
hamohamo 0:f80bb69e638e 276 bool checkMOT12(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 277 MOT12 = true;
hamohamo 0:f80bb69e638e 278 return true;
hamohamo 0:f80bb69e638e 279 }
hamohamo 0:f80bb69e638e 280 bool checkMOT34(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 281 MOT34 = true;
hamohamo 0:f80bb69e638e 282 return true;
hamohamo 0:f80bb69e638e 283 }
hamohamo 0:f80bb69e638e 284
hamohamo 1:aa9cc4250220 285 bool init(){
hamohamo 1:aa9cc4250220 286 wait(0.25);
hamohamo 0:f80bb69e638e 287 scrp.send1(255,5,1);
hamohamo 1:aa9cc4250220 288 wait(0.25);
hamohamo 1:aa9cc4250220 289 scrp.send1(255,6,1);
minamikawa 5:aee4416b0d4f 290 printf("aaaa");
hamohamo 1:aa9cc4250220 291 return (!MOT12 or !MOT34);
hamohamo 4:0038da6cdc9a 292 }
hamohamo 4:0038da6cdc9a 293 void spinonce()
hamohamo 4:0038da6cdc9a 294 {
hamohamo 4:0038da6cdc9a 295 nh.spinOnce();
hamohamo 4:0038da6cdc9a 296 }
hamohamo 4:0038da6cdc9a 297
hamohamo 4:0038da6cdc9a 298 void getPixel(const std_msgs::Int16& pix){
hamohamo 4:0038da6cdc9a 299 pixel = pix.data;
minamikawa 5:aee4416b0d4f 300 if (pixel > 0){
minamikawa 5:aee4416b0d4f 301 x = 0;
minamikawa 5:aee4416b0d4f 302 } else {
minamikawa 5:aee4416b0d4f 303 x = 1;
hamohamo 4:0038da6cdc9a 304 }
minamikawa 5:aee4416b0d4f 305 }