Revision 86b48573
Range sensors work now! :D
| scout_avr/src/main.cpp | ||
|---|---|---|
| 12 | 12 |
#include <util/delay.h> |
| 13 | 13 |
|
| 14 | 14 |
/* Period of main loop in ms */ |
| 15 |
#define MAINLOOP_PERIOD 50 |
|
| 15 |
#define MAINLOOP_PERIOD 1000//50
|
|
| 16 | 16 |
|
| 17 | 17 |
char range_enabled = 0; |
| 18 | 18 |
|
| ... | ... | |
| 55 | 55 |
/* Range */ |
| 56 | 56 |
range_init(); |
| 57 | 57 |
sonar::sonar_distance range_msg; |
| 58 |
ros::Publisher range_distance("sonar_distance", &range_msg);
|
|
| 58 |
ros::Publisher range_pub("sonar_distance", &range_msg);
|
|
| 59 | 59 |
ros::ServiceServer |
| 60 | 60 |
<sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
| 61 | 61 |
range_toggle("sonar_toggle", range_toggle_cb);
|
| 62 | 62 |
ros::ServiceServer |
| 63 | 63 |
<sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
| 64 | 64 |
range_set_scan("sonar_set_scan", range_set_scan_cb);
|
| 65 |
nh.advertise(range_pub); |
|
| 65 | 66 |
|
| 66 | 67 |
/* BOM */ |
| 67 | 68 |
bom_init(); |
| ... | ... | |
| 111 | 112 |
range_msg.pos = 0; // TODO fill this |
| 112 | 113 |
range_msg.distance0 = ranges[0]; |
| 113 | 114 |
range_msg.distance1 = ranges[1]; |
| 115 |
range_pub.publish(&range_msg); |
|
| 114 | 116 |
|
| 115 | 117 |
} |
| 116 | 118 |
|
| ... | ... | |
| 142 | 144 |
int main() |
| 143 | 145 |
{
|
| 144 | 146 |
char buf[20]; |
| 145 |
int i; |
|
| 146 |
char id = 0; |
|
| 147 |
//int i;
|
|
| 148 |
//char id = 0;
|
|
| 147 | 149 |
unsigned long now, next = 0; |
| 150 |
unsigned int ranges[2]; |
|
| 148 | 151 |
avr.init(); |
| 149 | 152 |
range_init(); |
| 150 | 153 |
bom_init(); |
| 151 |
func step_sweep_cb = step_init(10); |
|
| 154 |
/*func step_sweep_cb = step_init(10);
|
|
| 152 | 155 |
step_sweep_bounds(-26, 26); |
| 153 | 156 |
step_dir(1); |
| 154 |
step_sweep_speed(50); |
|
| 157 |
step_sweep_speed(50);*/
|
|
| 155 | 158 |
avr.puts("Hello!\r\n");
|
| 156 | 159 |
while (1) |
| 157 | 160 |
{
|
| 158 |
step_sweep_cb(); |
|
| 159 |
_delay_ms(10); |
|
| 160 |
/*now = avr.time();
|
|
| 161 |
/*step_sweep_cb();
|
|
| 162 |
_delay_ms(10);*/
|
|
| 163 |
now = avr.time(); |
|
| 161 | 164 |
if (now > next) {
|
| 162 |
next = now + 50;*/
|
|
| 165 |
next = now + 500;
|
|
| 163 | 166 |
//step_sweep_cb(); |
| 164 | 167 |
/*ultoa(now, buf, 10); |
| 165 | 168 |
avr.puts(buf); |
| ... | ... | |
| 169 | 172 |
id = 0; |
| 170 | 173 |
} |
| 171 | 174 |
set_robot_id(id);*/ |
| 172 |
/*utoa(range_get(0), buf, 10); |
|
| 175 |
range_measure(ranges); |
|
| 176 |
utoa(ranges[0], buf, 10); |
|
| 173 | 177 |
avr.puts("Range: ");
|
| 174 | 178 |
avr.puts(buf); |
| 175 | 179 |
avr.puts(", ");
|
| 176 |
utoa(range_get(1), buf, 10); |
|
| 177 |
avr.puts(buf);*/ |
|
| 180 |
utoa(ranges[1], buf, 10); |
|
| 181 |
avr.puts(buf); |
|
| 182 |
avr.puts("\r\n");
|
|
| 178 | 183 |
/*for (i = 0; i < 4; i++) {
|
| 179 | 184 |
bom_send(i); |
| 180 | 185 |
int msg = bom_get(i); |
| ... | ... | |
| 191 | 196 |
avr.puts(")\r\n");
|
| 192 | 197 |
} |
| 193 | 198 |
}*/ |
| 194 |
//}
|
|
| 199 |
} |
|
| 195 | 200 |
} |
| 196 | 201 |
return 0; |
| 197 | 202 |
} |
Also available in: Unified diff