Diff: main.cpp

Revision:

0:6370e1a55ca5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 26 10:39:00 2017 +0000
@@ -0,0 +1,91 @@
+///*
+// * 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 <geometry_msgs/Vector3Stamped.h>
+//#include <ros/time.h>
+//
+////AnalogIn analog_value1(A0);
+////AnalogIn analog_value2(A1);
+////AnalogIn analog_value3(A2);
+//DigitalOut led(LED1);
+//
+//ros::NodeHandle nh;
+//
+//geometry_msgs::Vector3Stamped joint_angle;
+//
+//ros::Publisher p("adc", &joint_angle);
+//
+//
+////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;
+//}
+//
+//int main() {
+//    nh.initNode();
+//    nh.advertise(p);
+//
+//    while (1) {
+//        joint_angle.vector.x= averageAnalog(A0);
+//        joint_angle.vector.y= averageAnalog(A1);
+//        joint_angle.vector.z= averageAnalog(A2);
+//        joint_angle.header.stamp = nh.now();
+//        p.publish(&joint_angle);
+//        nh.spinOnce();
+//        wait_ms(10);
+//    }
+//}
+
+/*
+ * 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 <std_msgs/Float64.h>
+#include <ros/time.h>
+
+//AnalogIn analog_value1(A0);
+//AnalogIn analog_value2(A1);
+//AnalogIn analog_value3(A2);
+DigitalOut led(LED1);
+
+ros::NodeHandle nh;
+
+std_msgs::Float64 feedback;
+
+ros::Publisher p("state", &feedback);
+
+
+//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();
+    return v*2000/4-1000;
+}
+
+int main() {
+    nh.initNode();
+    nh.advertise(p);
+
+    while (1) {
+        feedback.data = averageAnalog(A0);
+        p.publish(&feedback);
+        nh.spinOnce();
+        wait_ms(10);
+    }
+}
+