Quadrotor

/* 

 * rosserial ADC Example

 * 

 * This is a poor man's Oscilloscope.  It does not have the sampling 

 * rate or accuracy of a commerical scope, but it is great to get

 * an analog value into ROS in a pinch.

 */

#include <WProgram.h>

#include <ros.h>

#include <rosserial_arduino/Adc.h>

ros::NodeHandle nh;

rosserial_arduino::Adc adc_msg;

ros::Publisher p("adc", &adc_msg);

void setup()

{ 

  pinMode(13, OUTPUT);

  nh.initNode();

  nh.advertise(p);

}

//We average the analog reading to elminate some of the noise

int averageAnalog(int pin){

  int v=0;

  for(int i=0; i<4; i++) v+= analogRead(pin);

  return v/4;

}

long adc_timer;

void loop()

{

  adc_msg.adc0 = averageAnalog(0);

  adc_msg.adc1 = averageAnalog(1);

  adc_msg.adc2 = averageAnalog(2);

  adc_msg.adc3 = averageAnalog(3);

  adc_msg.adc4 = averageAnalog(4);

  adc_msg.adc5 = averageAnalog(5);

  p.publish(&adc_msg);

  nh.spinOnce();

}