for ros integration
Dependencies: wheelchaircontrolRos
Fork of wheelchaircontrolrealtime by
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-13
- Revision:
- 4:db3aa99ab312
- Parent:
- 3:ef063fd4234e
- Child:
- 5:186967c92ef5
File content as of revision 4:db3aa99ab312:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut off(D0); DigitalOut on(D1); DigitalOut up(D2); DigitalOut down(D3); char c; bool manual = false; bool received = false; Serial pc(USBTX, USBRX, 57600); Timer t; EventQueue queue; //MPU9250 imu(D14, D15); Wheelchair smart(xDir,yDir, &pc, &t); Thread thread; ros::NodeHandle nh; geometry_msgs::Twist commandRead; ros::Publisher chatter("chatter", &commandRead); void handlerFunction(const geometry_msgs::Twist& command) { if(command.linear.x >0) { c = 'w'; } received = true; } ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction); void setupNode() { nh.initNode(); nh.subscribe(sub); nh.advertise(chatter); } int main(void) { queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); t.reset(); thread.start(callback(&queue, &EventQueue::dispatch_forever)); setupNode(); if(received) { if( c == 'w') { pc.printf("up \n"); smart.forward(); } else if( c == 'a') { //pc.printf("left \n"); smart.left(); } else if( c == 'd') { //pc.printf("right \n"); smart.right(); } else if( c == 's') { pc.printf("down \n"); smart.backward(); } else if( c == 'r') { smart.turn_right(90); } else if( c == 'l') { smart.turn_left(90); } else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); fgets (buffer, 256, stdin); int angle = atoi (buffer); if(angle == 0) { pc.printf("invalid input try again\n"); } else { smart.pid_turn(angle); } } else if( c == 'm' || manual) { pc.printf("turning on joystick\n"); manual = true; t.reset(); while(manual) { smart.move(x,y); if( pc.readable()) { char d = pc.getc(); if( d == 'm') { pc.printf("turning off joystick\n"); manual = false; } } } } else { pc.printf("none \n"); smart.stop(); } wait(process); received = !received; } } /* void publishTwist(ros::Publisher* toChat) [ toChat->publish( &commandRead); nh.spinOnce(); }*/