Diff: main.cpp

Revision:

5:1a7d0889cbcf

Parent:

4:13cda079f08d

--- a/main.cpp	Mon Sep 27 09:34:09 2021 +0000
+++ b/main.cpp	Tue Sep 28 12:46:44 2021 +0000
@@ -1,32 +1,31 @@
+#include "mbed.h"
 #include <ros.h>
-#include <std_msgs/Float32.h>
 #include <std_msgs/String.h>
-#include "SHARPIR.h"
-
+#include "hcsr04.h"
 
 ros::NodeHandle  nh;
 
-std_msgs::Float32 data;
-ros::Publisher sharpir("sharpir", &data);
+std_msgs::String data;
+ros::Publisher ultrasonic("ultrasonic", &data);
 
-SHARPIR Sensor(A0); 
-
+//D12 TRIGGER D11 ECHO
+HCSR04 sensor(D8, D9);
 
 int main() {
-    float DistanceCM;
-    
+    char buffer[50];
+
     nh.initNode();
-    nh.advertise(sharpir);
-    
+    nh.advertise(ultrasonic);
+
     while (1) { //creates an eternal loop
-    
-        DistanceCM=Sensor.cm();  
-        //sprintf (buffer, "%f", DistanceCM);
-        
-        data.data = DistanceCM;
-        sharpir.publish( &data );
-        
+
+        long distance = sensor.distance();
+        sprintf (buffer, "%d", distance);
+
+        data.data = buffer;
+        ultrasonic.publish( &data );
+
         nh.spinOnce();
         wait_ms(1000);
     }
-}
+}
\ No newline at end of file