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/ADC.cpp@4:2cbca0ac2569, 2012-02-29 (annotated)

Committer:
nucho
Date:
Wed Feb 29 23:02:12 2012 +0000
Revision:
4:2cbca0ac2569
Parent:
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//#define COMPILE_ADC_CODE_ROSSERIAL





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#ifdef  COMPILE_ADC_CODE_ROSSERIAL





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/*





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 * rosserial ADC Example





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 *





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 * This is a poor man's Oscilloscope.  It does not have the sampling





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 * rate or accuracy of a commerical scope, but it is great to get





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 * an analog value into ROS in a pinch.





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 */





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#include "mbed.h"





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#include <ros.h>





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#include <rosserial_mbed/Adc.h>





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ros::NodeHandle nh;





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rosserial_mbed::Adc adc_msg;





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ros::Publisher p("adc", &adc_msg);





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//We average the analog reading to elminate some of the noise





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int averageAnalog(PinName pin) {





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    int v=0;





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    for (int i=0; i<4; i++) v+= AnalogIn(pin).read_u16();





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    return v/4;





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}





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long adc_timer;





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int main() {





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    nh.initNode();





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    nh.advertise(p);





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    while (1) {





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        adc_msg.adc0 = averageAnalog(p15);





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        adc_msg.adc1 = averageAnalog(p16);





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        adc_msg.adc2 = averageAnalog(p17);





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        adc_msg.adc3 = averageAnalog(p18);





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        adc_msg.adc4 = averageAnalog(p19);





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        adc_msg.adc5 = averageAnalog(p20);





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        p.publish(&adc_msg);





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        nh.spinOnce();





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    }





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}





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#endif