Diff: examples/Ultrasound.cpp

Revision:

0:06fc856e99ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/Ultrasound.cpp	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,65 @@
+//#define COMPILE_ULTRASOUND_CODE_ROSSERIAL
+#ifdef  COMPILE_ULTRASOUND_CODE_ROSSERIAL
+
+/*
+ * rosserial Ultrasound Example
+ *
+ * This example is for the Maxbotix Ultrasound rangers.
+ */
+
+#include "mbed.h"
+#include <ros.h>
+#include <ros/time.h>
+#include <sensor_msgs/Range.h>
+
+ros::NodeHandle  nh;
+
+sensor_msgs::Range range_msg;
+ros::Publisher pub_range( "/ultrasound", &range_msg);
+
+const PinName adc_pin = p20;
+
+char frameid[] = "/ultrasound";
+
+float getRange_Ultrasound(PinName pin_num) {
+    int val = 0;
+    for (int i=0; i<4; i++) val += AnalogIn(pin_num).read_u16();
+    float range =  val;
+    return range /322.519685;   // (0.0124023437 /4) ; //cvt to meters
+}
+
+Timer t;
+int main() {
+    t.start();
+    nh.initNode();
+    nh.advertise(pub_range);
+
+    range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND;
+    range_msg.header.frame_id =  frameid;
+    range_msg.field_of_view = 0.1;  // fake
+    range_msg.min_range = 0.0;
+    range_msg.max_range = 6.47;
+
+    //pinMode(8,OUTPUT);
+    //digitalWrite(8, LOW);
+
+    long range_time=0;
+
+    while (1) {
+
+        //publish the adc value every 50 milliseconds
+        //since it takes that long for the sensor to stablize
+        if ( t.read_ms() >= range_time ) {
+            int r =0;
+
+            range_msg.range = getRange_Ultrasound(adc_pin);
+            range_msg.header.stamp = nh.now();
+            pub_range.publish(&range_msg);
+            range_time =  t.read_ms() + 50;
+        }
+
+        nh.spinOnce();
+    }
+}
+
+#endif
\ No newline at end of file