Diff: main.cpp

Revision:

3:c23614e6262f

Parent:

2:b847309a754d

Child:

4:69cd9240fd74

--- a/main.cpp	Sat Oct 23 07:17:03 2021 +0000
+++ b/main.cpp	Sat Oct 23 07:31:18 2021 +0000
@@ -1,9 +1,17 @@
 #include <ros.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/String.h>
+#include <std_msgs/Int16.h>
 #include "SHARPIR.h"
 #include "hcsr04.h"
+#include "VEML7700.h"
 
+#ifndef MSU_VEML7700_I2C_ADDRESS
+#define MSU_VEML7700_I2C_ADDRESS 0x10
+#endif
+
+#define PIN_SCL  D15
+#define PIN_SDA  D14
 
 //Sharp IR sensor analog pin defination
 SHARPIR Sensor(A0); 
@@ -14,7 +22,6 @@
 
 ros::NodeHandle  nh;
 
-
 //SharpIR publisher initialization
 std_msgs::Float32 data_ir;
 ros::Publisher sharpir("sharpir", &data_ir);
@@ -23,27 +30,46 @@
 std_msgs::String data_ul;
 ros::Publisher ultrasonic("ultrasonic", &data_ul);
 
+//Ambient Light sensor publisher initialization
+std_msgs::Int16 data_als;
+ros::Publisher ALS("ALS", &data_als);
+
+VEML7700 *veml7700 = 0 ;
+
 int main() {
     float DistanceCM; //Variable to store distance in CM from SharpIR sensor
     char buffer[50]; // buffer for Ultrasonic sensor values
     
+    //Initialization of Ambient light sensor
+    uint16_t als ;
+    veml7700 = new VEML7700(PIN_SDA, PIN_SCL, MSU_VEML7700_I2C_ADDRESS) ; 
+    veml7700->setALSConf(0x0000) ;
+    veml7700->setPowerSaving(0x0000) ;
+    
     //Initalizing and advertising topics
     nh.initNode();
     nh.advertise(sharpir); //SharpIR sensor
     nh.advertise(ultrasonic); //Ultrasonic Sensor
+    nh.advertise(ALS); //Ambient Light Sensor
     
     while (1) { //creates an eternal loop
     
         DistanceCM=Sensor.cm(); //Reading SharpIR sensor value from analog pin
+        
         long distance = sensor.distance(); //Reading ultrasonic sensor value
         sprintf (buffer, "%d", distance);  //converting value into string
         
+        als = veml7700->getALS(); //Readinng ALS sensor value
+        
         data_ir.data = DistanceCM;
         sharpir.publish( &data_ir );
         
         data_ul.data = buffer;
         ultrasonic.publish( &data_ul );
         
+        data_als.data = als;
+        ALS.publish( &data_als );
+        
         nh.spinOnce();
         wait_ms(1000);
     }