Revision 6499f09b
ID | 6499f09b560e443f3ec0176b56ca2ab3fc646dd5 |
Arduino now reads 2 sonars and publishes
It publishes to /range_up and /range_down, from pins A0 and A1.
mikrokopter/arduino/src/main.cpp | ||
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5 | 5 |
ros::NodeHandle nh; |
6 | 6 |
|
7 | 7 |
std_msgs::UInt16 distance; |
8 |
ros::Publisher range("range", &distance); |
|
8 |
ros::Publisher range_up("range_up", &distance); |
|
9 |
ros::Publisher range_down("range_down", &distance); |
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9 | 10 |
|
10 | 11 |
void setup() |
11 | 12 |
{ |
12 | 13 |
nh.initNode(); |
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nh.advertise(range); |
|
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nh.advertise(range_up); |
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nh.advertise(range_down); |
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14 | 16 |
} |
15 | 17 |
|
16 | 18 |
void loop() |
17 | 19 |
{ |
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distance.data = 12; |
|
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range.publish(&distance); |
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distance.data = analogRead(0); |
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range_up.publish(&distance); |
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distance.data = analogRead(1); |
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range_down.publish(&distance); |
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20 | 24 |
nh.spinOnce(); |
21 | 25 |
} |
Also available in: Unified diff