Diff: main.cpp

Revision:

1:ca82df4237eb

Parent:

0:d94848220e71

Child:

2:1d1f6cd9d8b1

--- a/main.cpp	Thu Feb 02 11:01:07 2012 +0000
+++ b/main.cpp	Fri Sep 10 09:24:48 2021 +0000
@@ -1,11 +1,33 @@
 #include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/String.h>
 #include "SHARPIR.h"
 
-SHARPIR Sensor(p10); //the output of the sharpIR sensor is connected to the MBEDs pin 10.
+
+ros::NodeHandle  nh;
+
+std_msgs::Float32 data;
+ros::Publisher sharpir("sharpir", &data);
+
+SHARPIR Sensor(A0); 
+
+
 int main() {
     float DistanceCM;
+    
+    nh.initNode();
+    nh.advertise(sharpir);
+    
     while (1) { //creates an eternal loop
-        DistanceCM=Sensor.cm();
-        wait_ms(20); //wait 20 ms between each readout
+    
+        DistanceCM=Sensor.cm();  
+        //sprintf (buffer, "%f", DistanceCM);
+        
+        data.data = DistanceCM;
+        sharpir.publish( &data );
+        
+        nh.spinOnce();
+        wait_ms(1000);
     }
 }