Diff: main.cpp

Revision:

7:fe1f52d848fd

Parent:

6:66de1f4abff4

Child:

8:e542adce95e9

--- a/main.cpp	Wed Feb 17 09:46:01 2021 +0000
+++ b/main.cpp	Thu Feb 18 09:58:58 2021 +0000
@@ -18,6 +18,9 @@
 DigitalOut Refer_Volt_3_3 = PB_1;
 DigitalOut motor_enable = PC_7;
 DigitalOut motor_stop[] = {PB_6, PC_5, PC_0};
+
+geometry_msgs::Twist wheel_data;
+
 // -> Motor PWN Pin
 PwmOut motor_pwm[] = {PA_9, PC_8, PA_11};
 //motor number
@@ -100,14 +103,22 @@
             motorStop(i);
 }
 
+void Callback(const geometry_msgs::Twist& _msg) {
+    
+
+}
+
 ros::Subscriber<std_msgs::Float32MultiArray> subax("moving_base", &baseCallback);
 ros::Subscriber<std_msgs::Float32MultiArray> subbt("fcn_button", &messageCb);
 ros::Subscriber<geometry_msgs::Twist> subtw("base_twist", &twCallback);
 int main() {
+    //ros::Rate rate(10);
     nh.getHardware()->setBaud(BAUD);
     nh.initNode();
 //    nh.subscribe(subax);
     nh.subscribe(subbt);
+    nh.subscribe(subtw);
+    
     motor_init();
     while (1) {
     nh.spinOnce();