Diff: examples/ADC.cpp

Revision:

0:06fc856e99ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/ADC.cpp	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,51 @@
+//#define COMPILE_ADC_CODE_ROSSERIAL
+#ifdef  COMPILE_ADC_CODE_ROSSERIAL
+
+/*
+ * rosserial ADC Example
+ *
+ * This is a poor man's Oscilloscope.  It does not have the sampling
+ * rate or accuracy of a commerical scope, but it is great to get
+ * an analog value into ROS in a pinch.
+ */
+
+#include "mbed.h"
+#include <ros.h>
+#include <rosserial_mbed/Adc.h>
+
+ros::NodeHandle nh;
+
+rosserial_mbed::Adc adc_msg;
+ros::Publisher p("adc", &adc_msg);
+
+
+
+//We average the analog reading to elminate some of the noise
+int averageAnalog(PinName pin) {
+    int v=0;
+    for (int i=0; i<4; i++) v+= AnalogIn(pin).read_u16();
+    return v/4;
+}
+
+long adc_timer;
+
+int main() {
+    nh.initNode();
+
+    nh.advertise(p);
+
+    while (1) {
+        adc_msg.adc0 = averageAnalog(p15);
+        adc_msg.adc1 = averageAnalog(p16);
+        adc_msg.adc2 = averageAnalog(p17);
+        adc_msg.adc3 = averageAnalog(p18);
+        adc_msg.adc4 = averageAnalog(p19);
+        adc_msg.adc5 = averageAnalog(p20);
+
+        p.publish(&adc_msg);
+
+        nh.spinOnce();
+    }
+}
+
+#endif
\ No newline at end of file