aaa
Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
Diff: main.cpp
- Revision:
- 4:cf1a4e503974
- Parent:
- 3:a45557a0dcb8
- Child:
- 6:20a32baeff79
diff -r a45557a0dcb8 -r cf1a4e503974 main.cpp --- a/main.cpp Tue Dec 11 17:51:47 2018 +0000 +++ b/main.cpp Wed Dec 12 03:35:52 2018 +0000 @@ -3,16 +3,16 @@ #include "myRos.h" #include "myCan.h" +#include "myOled.h" #include <ros.h> #include <ros/time.h> #include <std_msgs/Empty.h> +#include <geometry_msgs/Point.h> #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); +ros::Subscriber<geometry_msgs::Point> drift_sub("nucleo/drift", &drift_sub_cb); //Initialize GPIO DigitalOut myled(LED1); @@ -38,14 +38,21 @@ //Initialize ROS My_Ros my_ros(&odom); my_ros.set_subscliber(ack_sub); + my_ros.set_subscliber(drift_sub); + //Initialize CAN My_Can my_can(&odom); my_can.initialize_amcl_attach(&my_ros, &My_Ros::enable_initialize_amcl); my_can.led_toggle_attach(&led1_toggle); + //Initialize OLED + I2C i2c(PB_4, PA_8); + My_Oled my_oled(&odom, i2c); + std::vector<Odom_Abstract*> odom_container; odom_container.push_back(&my_ros); odom_container.push_back(&my_can); + odom_container.push_back(&my_oled); while(1) { //For debug @@ -62,6 +69,7 @@ } } + //Debug if(mysw == 0){ while(mysw == 0); my_can.test();