Diff: main.cpp

Revision:

0:e70ca69c6311

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jul 12 02:23:53 2017 +0000
@@ -0,0 +1,48 @@
+/*
+ * rosserial Publisher Example
+ * Prints "hello world!"
+ */
+
+#include"mbed.h"
+#include"Pulse.h"
+#include"stdio.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+
+
+ros::NodeHandle  nh;
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[20] = "How a fucking day!";
+//HCSR04 sonar(PB_0,PB_1) ;
+//PA_6 ->trig PA_7->echo
+PulseInOut trig(PB_1);
+PulseInOut echo(PB_0);
+float hc_distance(void)
+ {
+   long count=0;
+   float distance=0;
+     trig.write_us(1,10);
+      count=echo.read_high_us();
+      distance= float(count*0.017);
+      return distance;
+  }
+
+
+float dist=0.0;
+int main() {
+    nh.initNode();
+    nh.advertise(chatter);
+    while (1) {
+       
+        dist =  hc_distance();
+        sprintf(hello,"%f \n",dist);
+         str_msg.data = hello;
+        chatter.publish( &str_msg );
+         nh.spinOnce();
+        wait_ms(1000);
+        
+    }
+}
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