Sreeraj Rajendran / Mbed 2 deprecated Mouse_ISR_test1

added broadcaster for l.mouse

Dependencies:   QEI mbed ros_lib_kinetic

Fork of Mouse_ISR by SBD Digital Accelerator Robotics

main.cpp@1:7ba9803d4e01, 2018-07-16 (annotated)

Committer:
apriljunio
Date:
Mon Jul 16 19:47:46 2018 +0000
Revision:
1:7ba9803d4e01
Parent:
0:1a95e3b1026a
Child:
2:47663f3fec3a
ISR + ROS Publisher

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apriljunio 0:1a95e3b1026a 1 #include "mbed.h"
apriljunio 0:1a95e3b1026a 2 #include "QEI.h"
apriljunio 0:1a95e3b1026a 3 #include "ros.h"
apriljunio 0:1a95e3b1026a 4 #include "geometry_msgs/Quaternion.h"
apriljunio 0:1a95e3b1026a 5
apriljunio 0:1a95e3b1026a 6 //PINA / PINB / INDEXPIN / PPR / ENCODING (X2 BY DEFAULT)
apriljunio 0:1a95e3b1026a 7 QEI leftEncoder(D3, D12, NC, 378);
apriljunio 0:1a95e3b1026a 8 QEI rightEncoder(D2, D13, NC, 378);
apriljunio 0:1a95e3b1026a 9
apriljunio 0:1a95e3b1026a 10 ros::NodeHandle nh;
apriljunio 0:1a95e3b1026a 11 geometry_msgs::Quaternion wheelMsg;
apriljunio 0:1a95e3b1026a 12 ros::Publisher wheelPub("/odom_msg", &wheelMsg);
apriljunio 0:1a95e3b1026a 13
apriljunio 1:7ba9803d4e01 14 //rosserial does not like volatile ints
apriljunio 0:1a95e3b1026a 15 int leftPulseA=0;
apriljunio 0:1a95e3b1026a 16 int rightPulseA=0;
apriljunio 0:1a95e3b1026a 17
apriljunio 1:7ba9803d4e01 18 //timeL;
apriljunio 1:7ba9803d4e01 19 //timeR;
apriljunio 0:1a95e3b1026a 20
apriljunio 0:1a95e3b1026a 21 int main(){
apriljunio 0:1a95e3b1026a 22
apriljunio 0:1a95e3b1026a 23 nh.initNode();
apriljunio 0:1a95e3b1026a 24 //nh.advertise(chatter);
apriljunio 0:1a95e3b1026a 25 nh.advertise(wheelPub);
apriljunio 0:1a95e3b1026a 26 // pc.baud(57600);
apriljunio 0:1a95e3b1026a 27
apriljunio 0:1a95e3b1026a 28
apriljunio 0:1a95e3b1026a 29 while(true){
apriljunio 0:1a95e3b1026a 30
apriljunio 0:1a95e3b1026a 31 leftPulseA=leftEncoder.getPulses();
apriljunio 0:1a95e3b1026a 32 rightPulseA = rightEncoder.getPulses();
apriljunio 1:7ba9803d4e01 33 //timeL = tL.read();
apriljunio 1:7ba9803d4e01 34 //timeR = tL.read();
apriljunio 0:1a95e3b1026a 35
apriljunio 0:1a95e3b1026a 36 wheelMsg.x= leftPulseA;
apriljunio 1:7ba9803d4e01 37 wheelMsg.y = 0.0;//timeL;
apriljunio 0:1a95e3b1026a 38 wheelMsg.z = rightPulseA;
apriljunio 1:7ba9803d4e01 39 wheelMsg.w = 0.0;//timeR;
apriljunio 0:1a95e3b1026a 40
apriljunio 0:1a95e3b1026a 41
apriljunio 0:1a95e3b1026a 42 //pc.printf("Left pulses %i \n", leftPulseA);
apriljunio 0:1a95e3b1026a 43 //pc.printf("Right pulses %i \n", rightPulseA);
apriljunio 0:1a95e3b1026a 44
apriljunio 0:1a95e3b1026a 45 //str_msg.data=hello;
apriljunio 0:1a95e3b1026a 46 //chatter.publish(&str_msg);
apriljunio 0:1a95e3b1026a 47 wheelPub.publish(&wheelMsg);
apriljunio 0:1a95e3b1026a 48 nh.spinOnce();
apriljunio 0:1a95e3b1026a 49 wait(0.01);
apriljunio 0:1a95e3b1026a 50 }
apriljunio 0:1a95e3b1026a 51 }