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Revision 066b08bb

ID066b08bbbefc8d476e67e5a2122e1b2a96b22599
Parent cfdb3afa
Child 360e3b6c

Added by Thomas Mullins about 11 years ago

Adding Charles's headlight code

View differences:

scout_avr/src/main.cpp
4 4 
#include "bom.h"
5 5 
#include "range.h"
6 6 
#include "stepper.h"
7 
#include "orb.h"
7 8 
#include <std_msgs/Int16.h> // TODO remove
8 9 
#include <bom/bom.h>
9 10 
#include <sonar/sonar_distance.h>
10 11 
#include <sonar/sonar_toggle.h>
11 12 
#include <sonar/sonar_set_scan.h>
13 
#include <headlights/set_headlights.h>
12 14 
#include <util/delay.h>
13 15 

  		




  14
  16
  
    
/* Period of main loop in ms */


  		




  ......




  20
  22
  
    
{


  		




  21
  23
  
    
}


  		




  22
  24
  
    

  		




  23
  
  
    
void callback(const std_msgs::Int16& msg)


  		




  
  25
  
    
void orb_callback(const headlights::set_headlights& msg)


  		




  24
  26
  
    
{


  		




  
  27
  
    
  orb_set0(msg.left_red, msg.left_green, msg.left_blue);


  		




  
  28
  
    
  orb_set1(msg.right_red, msg.right_green, msg.right_blue);


  		




  25
  29
  
    
}


  		




  26
  30
  
    

  		




  27
  31
  
    
/* dammit, Priya, this capitalization just looks ridiculous */


  		




  ......




  52
  56
  
    
  ros::NodeHandle nh;


  		




  53
  57
  
    
  nh.initNode();


  		




  54
  58
  
    

  		




  55
  
  
    
  /* To be removed later; just an example of a subscirber */


  		




  56
  
  
    
  ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);


  		




  57
  
  
    
  nh.subscribe(test_in);


  		




  58
  
  
    

  		




  59
  59
  
    
  /* Stepper */


  		




  60
  60
  
    
  // TODO ROS messages to set bounds


  		




  61
  61
  
    
  step_init();


  		




  ......




  83
  83
  
    
  ros::Publisher bom_pub("bom", &bom_msg);


  		




  84
  84
  
    
  nh.advertise(bom_pub);


  		




  85
  85
  
    

  		




  
  86
  
    
  /* Headlights (aka Orbs) */


  		




  
  87
  
    
  orb_init();


  		




  
  88
  
    
  ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",


  		




  
  89
  
    
      orb_callback);


  		




  
  90
  
    
  nh.subscribe(orb_sub);


  		




  
  91
  
    

  		




  86
  92
  
    
  id = 0;


  		




  87
  93
  
    
  next = 0;


  		




  88
  94
  
    
  while (1)


  		




  ......




  104
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      id = 0;


  		




  105
  111
  
    
    }


  		




  106
  112
  
    
    set_robot_id(id);


  		




  107
  
  
    
    bom_send(id & 1);


  		




  
  113
  
    
    bom_send(0);


  		




  108
  114
  
    

  		




  109
  115
  
    
    /* BOM */


  		




  110
  116
  
    
    for (i = 0; i < 4; i++) {


  		












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