ryan lin
/
wheelchaircontrolrealtimeROS
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Dependencies: wheelchaircontrolRos
Fork of
wheelchaircontrolrealtime
by 
ryan lin
Revision 9:90bc440405b6, committed 2018-08-29
- Comitter:
- ryanlin97
- Date:
- Wed Aug 29 21:02:03 2018 +0000
- Parent:
- 8:347b10e6bdf8
- Child:
- 10:0d2dd5a774a3
- Commit message:
- added paths
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| wheelchaircontrol.lib | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Aug 27 23:12:06 2018 +0000
+++ b/main.cpp Wed Aug 29 21:02:03 2018 +0000
@@ -3,11 +3,11 @@
AnalogIn x(A0);
AnalogIn y(A1);
+/*
DigitalOut on(D12);
DigitalOut off(D11);
DigitalOut up(D2);
-DigitalOut down(D3);
-DigitalOut horn(D10);
+DigitalOut down(D3);*/
Serial pc(USBTX, USBRX, 57600);
Timer t;
@@ -21,10 +21,9 @@
ros::NodeHandle nh;
//geometry_msgs::Twist commandRead;
std_msgs::String commandRead;
-std_msgs::String out;
ros::Publisher chatter("chatter", &commandRead);
-bool received = false;
+volatile bool received = false;
void handlerFunction(const std_msgs::String& commandIn)
{
@@ -99,15 +98,20 @@
} else if(c == 'o') {
pc.printf("turning on\n");
- on = 1;
+ char* temp = "turning on";
+ commandRead.data = temp;
+ chatter.publish(&commandRead);
+ /*on = 1;
wait(1);
- on = 0;
+ on = 0;*/
+ smart.turn_on();
c = 'z';
} else if(c == 'f') {
pc.printf("turning off\n");
- off = 1;
+ /*off = 1;
wait(1);
- off = 0;
+ off = 0;*/
+ smart.turn_off();
c = 'z';
}
@@ -115,14 +119,17 @@
pc.printf("turning on joystick\n");
manual = true;
t.reset();
+ received = false;
+
while(manual) {
smart.move(x,y);
- if( pc.readable()) {
- char d = pc.getc();
- if( d == 'm') {
+ if(received) {
+ char d = commandRead.data[0];
+ if( d == 'u') {
pc.printf("turning off joystick\n");
manual = false;
}
+ received = false;
}
}
}
@@ -144,11 +151,6 @@
}
-void beep() {
- horn = 1;
- wait(1);
- horn =0;
- }
--- a/wheelchaircontrol.lib Mon Aug 27 23:12:06 2018 +0000 +++ b/wheelchaircontrol.lib Wed Aug 29 21:02:03 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/ryanlin97/code/wheelchaircontrolRos/#3eadf01ec1b0 +https://os.mbed.com/users/ryanlin97/code/wheelchaircontrolRos/#df4257c75ed0