root / quad1 / mikrokopter / src / externctrl_client.cpp @ 07ec0a21
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/*!
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* \file externctrl_client.cpp
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* \brief A demonstration of the MikrokopterInterface class
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* \author Andrew Chambers <achamber@andrew.cmu.edu>
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* \author Justin Haines <jhaines@andrew.cmu.edu>
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* \author Sebastian Scherer <basti@andrew.cmu.edu>
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* \date 2011 October 25
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* \details This program sends commands to a Mikrokopter rotorcraft via ROS
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*/
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#include "ros/ros.h" |
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#include "mikrokopter/Control.h" |
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#include <cstdlib> |
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int main(int argc, char **argv) |
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{ |
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ros::init(argc, argv, "mikrokopter_externctrl_client");
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ros::NodeHandle n; |
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ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100); |
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mikrokopter::Control req; |
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req.digital[0] = 0; |
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req.digital[1] = 0; |
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req.remoteKey = 0;
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req.pitch = 0;
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req.roll = 0;
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req.yaw = 0;
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req.thrust = 40;
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req.height = 0;
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req.free = 0;
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req.frame = 7;
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req.config = 1;
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ros::Rate loop_rate(25);
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int maxPt = 30; |
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int minPt = -30; |
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int step = 2; |
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int val = 30; |
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while (ros::ok())
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{ |
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if (val >= maxPt)
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step = -1*step;
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if (val <= minPt)
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step = -1*step;
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val += step; |
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std::cout << val << std::endl; |
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req.frame++; |
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req.roll = val; |
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pub.publish(req); |
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ros::spinOnce(); |
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loop_rate.sleep(); |
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} |
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return 0; |
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} |