scoutos / scout_avr / src / main.cpp @ fd73d758
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| 1 | fd73d758 | Tom Mullins | #if 0 ///////////////////////////////////////////////
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| 2 | 807483bf | Tom Mullins | |
| 3 | 49090532 | Tom Mullins | #include "ros.h"
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| 4 | cf115e3d | Tom Mullins | #include <std_msgs/Int16.h>
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| 5 | 88fb3a79 | Tom Mullins | |
| 6 | 49090532 | Tom Mullins | ros::Publisher *ptest_out;
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| 7 | |||
| 8 | 812788aa | Tom Mullins | void debug(const char *str)
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| 9 | {
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| 10 | 31f4a032 | Tom Mullins | }
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| 11 | |||
| 12 | cf115e3d | Tom Mullins | void callback(const std_msgs::Int16& msg)
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| 13 | 49090532 | Tom Mullins | {
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| 14 | ptest_out->publish(&msg);
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| 15 | }
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| 16 | |||
| 17 | int main()
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| 18 | 88fb3a79 | Tom Mullins | {
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| 19 | ros::NodeHandle nh;
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| 20 | cf115e3d | Tom Mullins | std_msgs::Int16 msg;
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| 21 | ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
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| 22 | 49090532 | Tom Mullins | ros::Publisher test_out("test_out", &msg);
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| 23 | |||
| 24 | ptest_out = &test_out;
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| 25 | 88fb3a79 | Tom Mullins | |
| 26 | 49090532 | Tom Mullins | msg.data = 0;
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| 27 | 88fb3a79 | Tom Mullins | nh.initNode();
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| 28 | 49090532 | Tom Mullins | nh.subscribe(test_in);
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| 29 | nh.advertise(test_out);
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| 30 | 88fb3a79 | Tom Mullins | |
| 31 | while (1)
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| 32 | {
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| 33 | nh.spinOnce();
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| 34 | }
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| 35 | |||
| 36 | return 0;
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| 37 | 49090532 | Tom Mullins | }
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| 38 | 88fb3a79 | Tom Mullins | |
| 39 | 807483bf | Tom Mullins | #else ///////////////////////////////////////////////
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| 40 | |||
| 41 | extern "C" |
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| 42 | 88fb3a79 | Tom Mullins | {
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| 43 | #include <stdlib.h> |
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| 44 | #include <string.h> |
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| 45 | fd73d758 | Tom Mullins | #include <avr/io.h> |
| 46 | #include <util/delay.h> |
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| 47 | 88fb3a79 | Tom Mullins | } |
| 48 | |||
| 49 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
| 50 | 1c3c96ce | Tom Mullins | #include "range.h" |
| 51 | f115416e | Tom Mullins | #include "bom.h" |
| 52 | 49090532 | Tom Mullins | |
| 53 | 31f4a032 | Tom Mullins | Atmega128rfa1 avr; |
| 54 | |||
| 55 | 812788aa | Tom Mullins | void debug(const char *str) |
| 56 | {
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| 57 | 31f4a032 | Tom Mullins | avr.puts(str); |
| 58 | } |
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| 59 | |||
| 60 | 88fb3a79 | Tom Mullins | int main()
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| 61 | {
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| 62 | 1c3c96ce | Tom Mullins | char buf[20]; |
| 63 | f115416e | Tom Mullins | int i;
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| 64 | 31f4a032 | Tom Mullins | char id = 0; |
| 65 | cf115e3d | Tom Mullins | unsigned long now, next = 0; |
| 66 | 88fb3a79 | Tom Mullins | avr.init(); |
| 67 | 1c3c96ce | Tom Mullins | range_init(); |
| 68 | f115416e | Tom Mullins | bom_init(); |
| 69 | 31f4a032 | Tom Mullins | avr.puts("Hello!\r\n");
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| 70 | 88fb3a79 | Tom Mullins | while (1) |
| 71 | {
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| 72 | 49090532 | Tom Mullins | now = avr.time(); |
| 73 | if (now > next) {
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| 74 | 1c3c96ce | Tom Mullins | next = now + 100;
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| 75 | fd73d758 | Tom Mullins | /*ultoa(now, buf, 10);
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| 76 | 812788aa | Tom Mullins | avr.puts(buf);
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| 77 | fd73d758 | Tom Mullins | avr.puts("\r\n");*/
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| 78 | 31f4a032 | Tom Mullins | id++; |
| 79 | if (id == 0x40) { |
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| 80 | id = 0;
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| 81 | } |
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| 82 | set_robot_id(id); |
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| 83 | f115416e | Tom Mullins | /*utoa(range_get(0), buf, 10);
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| 84 | avr.puts("Range: ");
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| 85 | avr.puts(buf);
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| 86 | avr.puts(", ");
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| 87 | 807483bf | Tom Mullins | utoa(range_get(1), buf, 10);
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| 88 | f115416e | Tom Mullins | avr.puts(buf);*/
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| 89 | fd73d758 | Tom Mullins | for (i = 0; i < 4; i++) { |
| 90 | f115416e | Tom Mullins | bom_send(i); |
| 91 | int msg = bom_get(i);
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| 92 | if (msg != BOM_NO_DATA) {
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| 93 | avr.puts("BOM ");
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| 94 | itoa(i, buf, 10);
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| 95 | avr.puts(buf); |
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| 96 | avr.puts(": ");
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| 97 | 31f4a032 | Tom Mullins | itoa(bom_msg_get_robot_id(msg), buf, 10);
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| 98 | avr.puts(buf); |
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| 99 | avr.puts(" (");
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| 100 | itoa(bom_msg_get_dir(msg), buf, 10);
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| 101 | f115416e | Tom Mullins | avr.puts(buf); |
| 102 | 31f4a032 | Tom Mullins | avr.puts(")\r\n");
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| 103 | f115416e | Tom Mullins | } |
| 104 | fd73d758 | Tom Mullins | } |
| 105 | 49090532 | Tom Mullins | } |
| 106 | 88fb3a79 | Tom Mullins | } |
| 107 | return 0; |
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| 108 | cf115e3d | Tom Mullins | } |
| 109 | 807483bf | Tom Mullins | |
| 110 | #endif ////////////////////////////////////////////// |