Jacob Hernandez
This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required
Fork of
ros_lib_kinetic
by 
Gary Servin
Diff: rosserial_arduino/Adc.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_arduino/Adc.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,92 @@
+#ifndef _ROS_rosserial_arduino_Adc_h
+#define _ROS_rosserial_arduino_Adc_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+ class Adc : public ros::Msg
+ {
+ public:
+ typedef uint16_t _adc0_type;
+ _adc0_type adc0;
+ typedef uint16_t _adc1_type;
+ _adc1_type adc1;
+ typedef uint16_t _adc2_type;
+ _adc2_type adc2;
+ typedef uint16_t _adc3_type;
+ _adc3_type adc3;
+ typedef uint16_t _adc4_type;
+ _adc4_type adc4;
+ typedef uint16_t _adc5_type;
+ _adc5_type adc5;
+
+ Adc():
+ adc0(0),
+ adc1(0),
+ adc2(0),
+ adc3(0),
+ adc4(0),
+ adc5(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc0);
+ *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc1);
+ *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc2);
+ *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc3);
+ *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc4);
+ *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
+ offset += sizeof(this->adc5);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ this->adc0 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc0);
+ this->adc1 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc1);
+ this->adc2 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc2);
+ this->adc3 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc3);
+ this->adc4 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc4);
+ this->adc5 = ((uint16_t) (*(inbuffer + offset)));
+ this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ offset += sizeof(this->adc5);
+ return offset;
+ }
+
+ const char * getType(){ return "rosserial_arduino/Adc"; };
+ const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
+
+ };
+
+}
+#endif
\ No newline at end of file