nucho / Mbed 2 deprecated rosserial_mbed

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/Temperature.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?

        

            
                
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//#define COMPILE_TEMPERATURE_CODE_ROSSERIAL





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#ifdef  COMPILE_TEMPERATURE_CODE_ROSSERIAL





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/*





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 * rosserial Temperature Sensor Example





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 *





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 * This tutorial demonstrates the usage of the





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 * Sparkfun TMP102 Digital Temperature Breakout board





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 * http://www.sparkfun.com/products/9418





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 *





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 * Source Code Based off of:





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 * http://wiring.org.co/learning/libraries/tmp102sparkfun.html





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 */





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#include "mbed.h"





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#include <ros.h>





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#include <std_msgs/Float32.h>





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ros::NodeHandle  nh;





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std_msgs::Float32 temp_msg;





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ros::Publisher pub_temp("temperature", &temp_msg);





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// From the datasheet the BMP module address LSB distinguishes





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// between read (1) and write (0) operations, corresponding to





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// address 0x91 (read) and 0x90 (write).





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// shift the address 1 bit right (0x91 or 0x90), the Wire library only needs the 7





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// most significant bits for the address 0x91 >> 1 = 0x48





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// 0x90 >> 1 = 0x48 (72)





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 int sensorAddress = 0x91 >>1;  // From datasheet sensor address is 0x91





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// shift the address 1 bit right, the Wire library only needs the 7





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// most significant bits for the address





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Timer t;





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I2C i2c(p9, p10);        // sda, scl





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int main() {





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    t.start();





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    nh.initNode();





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    nh.advertise(pub_temp);





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    long publisher_timer =0;





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    while (1) {





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        if (t.read_ms() > publisher_timer) {





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            // step 1: request reading from sensor





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            //Wire.requestFrom(sensorAddress,2);





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            char cmd = 2;





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            i2c.write(sensorAddress, &cmd, 1);





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            wait_ms(50);





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            char msb;





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            char lsb;





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            int temperature;





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            i2c.read(sensorAddress, &msb, 1); // receive high byte (full degrees)





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            i2c.read(sensorAddress, &lsb, 1); // receive low byte (fraction degrees)





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            temperature = ((msb) << 4);  // MSB





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            temperature |= (lsb >> 4);   // LSB





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            temp_msg.data = temperature*0.0625;





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            pub_temp.publish(&temp_msg);





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            publisher_timer = t.read_ms() + 1000;





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        }





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        nh.spinOnce();





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    }





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}





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#endif