init
Dependencies: mbed ros_lib_kinetic
Revision 0:b1907fbc1696, committed 2019-10-29
- Comitter:
- surpace0924
- Date:
- Tue Oct 29 05:38:24 2019 +0000
- Commit message:
- init;
Changed in this revision
diff -r 000000000000 -r b1907fbc1696 DebugSerial.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DebugSerial.lib Tue Oct 29 05:38:24 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/robocon-ichinoseki-Ateam/DebugSerial/#c55eec04d41a4d8d81b060edf30859e36a12ef8c
diff -r 000000000000 -r b1907fbc1696 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 29 05:38:24 2019 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Int32.h>
+
+float TH = 0;
+double a[9];
+bool onLine[7] = {false};
+int binarized_data = 0;
+void messageCb(const std_msgs::Int32 &msg)
+{
+ binarized_data = msg.data;
+}
+
+Ticker flipper;
+ros::NodeHandle nh;
+std_msgs::Float32MultiArray send_data;
+ros::Publisher pub_to_ros("line_sensor/y", &send_data);
+ros::Subscriber<std_msgs::Int32> sub("line_sensor/binarized/y", &messageCb);
+
+
+void flip() {
+ for(int i = 0; i < 9; i++)
+ {
+ send_data.data[i] = a[i];
+ }
+
+ // ROSへデータを送信
+ pub_to_ros.publish(&send_data);
+}
+
+AnalogIn sensor[] = {
+ AnalogIn(PA_7),
+ AnalogIn(PA_6),
+ AnalogIn(PA_5),
+ AnalogIn(PA_4),
+ AnalogIn(PB_0),
+ AnalogIn(PB_1),
+ AnalogIn(PA_3),
+ AnalogIn(PA_1),
+ AnalogIn(PA_0)};
+
+DigitalOut leds[] = {
+ DigitalOut(PA_9),
+ DigitalOut(PA_10),
+ DigitalOut(PA_8),
+ DigitalOut(PB_7),
+ DigitalOut(PB_6),
+ DigitalOut(PF_0),
+ DigitalOut(PF_1)};
+
+int main()
+{
+ nh.initNode();
+ nh.advertise(pub_to_ros);
+ nh.subscribe(sub);
+
+ // 送信パケットの初期化
+ send_data.data_length = 9;
+ send_data.data = (float *)malloc(sizeof(float) * send_data.data_length);
+ for (int i = 0; i < send_data.data_length; i++)
+ send_data.data[i] = 0.0;
+
+ // 送信関数を一定周期で呼び出す
+ flipper.attach(&flip, 0.02);
+
+ while (1)
+ {
+ for (int i = 0; i < 9; i++)
+ {
+ a[i] = sensor[i];
+ }
+ for (int i = 0; i < 7; i++)
+ {
+ leds[i] = (int)((binarized_data >> i) & 1);
+ }
+
+ nh.spinOnce();
+ }
+}
diff -r 000000000000 -r b1907fbc1696 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 29 05:38:24 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r b1907fbc1696 ros_lib_kinetic.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Tue Oct 29 05:38:24 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f