nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
examples/Button_example.cpp@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPILE_BUTTON_EXAMPLE_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_BUTTON_EXAMPLE_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * Button Example for Rosserial |
| nucho | 0:06fc856e99ca | 6 | */ |
| nucho | 0:06fc856e99ca | 7 | |
| nucho | 0:06fc856e99ca | 8 | #include "mbed.h" |
| nucho | 0:06fc856e99ca | 9 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 10 | #include <std_msgs/Bool.h> |
| nucho | 0:06fc856e99ca | 11 | |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 14 | |
| nucho | 0:06fc856e99ca | 15 | std_msgs::Bool pushed_msg; |
| nucho | 0:06fc856e99ca | 16 | ros::Publisher pub_button("pushed", &pushed_msg); |
| nucho | 0:06fc856e99ca | 17 | |
| nucho | 0:06fc856e99ca | 18 | DigitalIn button_pin(p8); |
| nucho | 0:06fc856e99ca | 19 | DigitalOut led_pin(LED1); |
| nucho | 0:06fc856e99ca | 20 | |
| nucho | 0:06fc856e99ca | 21 | bool last_reading; |
| nucho | 0:06fc856e99ca | 22 | long last_debounce_time=0; |
| nucho | 0:06fc856e99ca | 23 | long debounce_delay=50; |
| nucho | 0:06fc856e99ca | 24 | bool published = true; |
| nucho | 0:06fc856e99ca | 25 | |
| nucho | 0:06fc856e99ca | 26 | Timer t; |
| nucho | 0:06fc856e99ca | 27 | int main() { |
| nucho | 0:06fc856e99ca | 28 | t.start(); |
| nucho | 0:06fc856e99ca | 29 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 30 | nh.advertise(pub_button); |
| nucho | 0:06fc856e99ca | 31 | |
| nucho | 0:06fc856e99ca | 32 | //Enable the pullup resistor on the button |
| nucho | 0:06fc856e99ca | 33 | button_pin.mode(PullUp); |
| nucho | 0:06fc856e99ca | 34 | |
| nucho | 0:06fc856e99ca | 35 | //The button is a normally button |
| nucho | 0:06fc856e99ca | 36 | last_reading = ! button_pin; |
| nucho | 0:06fc856e99ca | 37 | |
| nucho | 0:06fc856e99ca | 38 | while (1) { |
| nucho | 0:06fc856e99ca | 39 | bool reading = ! button_pin; |
| nucho | 0:06fc856e99ca | 40 | |
| nucho | 0:06fc856e99ca | 41 | if (last_reading!= reading) { |
| nucho | 0:06fc856e99ca | 42 | last_debounce_time = t.read_ms(); |
| nucho | 0:06fc856e99ca | 43 | published = false; |
| nucho | 0:06fc856e99ca | 44 | } |
| nucho | 0:06fc856e99ca | 45 | |
| nucho | 0:06fc856e99ca | 46 | //if the button value has not changed for the debounce delay, we know its stable |
| nucho | 0:06fc856e99ca | 47 | if ( !published && (t.read_ms() - last_debounce_time) > debounce_delay) { |
| nucho | 0:06fc856e99ca | 48 | led_pin = reading; |
| nucho | 0:06fc856e99ca | 49 | pushed_msg.data = reading; |
| nucho | 0:06fc856e99ca | 50 | pub_button.publish(&pushed_msg); |
| nucho | 0:06fc856e99ca | 51 | published = true; |
| nucho | 0:06fc856e99ca | 52 | } |
| nucho | 0:06fc856e99ca | 53 | |
| nucho | 0:06fc856e99ca | 54 | last_reading = reading; |
| nucho | 0:06fc856e99ca | 55 | |
| nucho | 0:06fc856e99ca | 56 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 57 | } |
| nucho | 0:06fc856e99ca | 58 | } |
| nucho | 0:06fc856e99ca | 59 | #endif |