Zill Khan
/
ROS_HCSR04_test
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 5:1a7d0889cbcf, committed 2021-09-28
- Comitter:
- zillkhan
- Date:
- Tue Sep 28 12:46:44 2021 +0000
- Parent:
- 4:13cda079f08d
- Commit message:
- final changes
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Tue Sep 28 12:46:44 2021 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/antoniolinux/code/HCSR04/#86b2086be101
--- a/SHARPIR.lib Mon Sep 27 09:34:09 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/users/zillkhan/code/SHARPIR_GP2Y0A51SK0F/#acdd61a2aac7
--- 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