Diff: main.cpp

Revision:

2:086272a2da1c

Parent:

1:bdd17feaa4ce

Child:

3:a45557a0dcb8

diff -r bdd17feaa4ce -r 086272a2da1c main.cpp
--- a/main.cpp	Fri Dec 07 20:59:56 2018 +0000
+++ b/main.cpp	Fri Dec 07 22:34:31 2018 +0000
@@ -7,26 +7,36 @@
 
 #include "odom.h"
 
+//prototype
+void odom_update_callback();
+
 //Create subscliber
 ros::Subscriber<std_msgs::Empty> ack_sub("nucleo/ack_from_pc", &ack_from_pc_cb);
 
+//Initialize GPIO
 DigitalOut myled(LED1);
 DigitalOut  led0(PC_0);
 DigitalOut  led1(PC_1);
 DigitalOut  led2(PB_0);
 DigitalIn   mysw(PC_13);
 
+//Initialize ODOM
+Odom odom;
+    
 int main() {
     //Initialize TIM
     Timer GetTick;
     GetTick.start();
     uint32_t debug_ts = 0;
     uint32_t ros_loop_ts = 0;
+    
+    //Set TIM IT Callback
+    Ticker odom_tick;
+    odom_tick.attach(&odom_update_callback, 0.02);
         
     //Initialize ROS
     My_Ros my_ros;
     my_ros.set_subscliber(ack_sub);
-    
 
     while(1) {
         //For debug
@@ -40,5 +50,13 @@
             ros_loop_ts = GetTick.read_ms() + 10;
             my_ros.loop();
         }
+        
+        
+        //角度計算用:ポーリングに置いとく
+        odom.update_angle();
     }
 }
+
+void odom_update_callback(){
+    odom.update_it_cb();
+}
\ No newline at end of file