root / quad2 / arduino / src / ros_lib / examples / BlinkM / BlinkM.pde @ c1426757
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/* |
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* RosSerial BlinkM Example |
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* This program shows how to control a blinkm |
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* from an arduino using RosSerial |
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*/ |
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#include "WProgram.h" //include the Arduino library |
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#include <stdlib.h> |
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#include <ros.h> |
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#include <std_msgs/String.h> |
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//include Wire/ twi for the BlinkM |
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#include <Wire.h> |
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extern "C" { |
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#include "utility/twi.h" |
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} |
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#include "BlinkM_funcs.h" |
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const byte blinkm_addr = 0x09; //default blinkm address |
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void setLED( bool solid, char color) |
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{ |
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if (solid) |
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{ |
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switch (color) |
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{ |
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|
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case 'w': // white |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0xff,0xff,0xff); |
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break; |
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|
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case 'r': //RED |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0xff,0,0); |
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break; |
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case 'g':// Green |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0,0xff,0); |
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break; |
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case 'b':// Blue |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0,0,0xff); |
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break; |
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|
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case 'c':// Cyan |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0,0xff,0xff); |
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break; |
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case 'm': // Magenta |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0xff,0,0xff); |
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break; |
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|
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case 'y': // yellow |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0xff,0xff,0); |
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break; |
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|
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default: // Black |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_fadeToRGB( blinkm_addr, 0,0,0); |
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break; |
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} |
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} |
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|
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else |
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{ |
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switch (color) |
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{ |
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case 'r': // Blink Red |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 3,0,0 ); |
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break; |
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case 'w': // Blink white |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 2,0,0 ); |
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break; |
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case 'g': // Blink Green |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 4,0,0 ); |
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break; |
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|
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case 'b': // Blink Blue |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 5,0,0 ); |
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break; |
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|
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case 'c': //Blink Cyan |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 6,0,0 ); |
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break; |
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|
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case 'm': //Blink Magenta |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 7,0,0 ); |
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break; |
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|
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case 'y': //Blink Yellow |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 8,0,0 ); |
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break; |
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default: //OFF |
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BlinkM_stopScript( blinkm_addr ); |
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BlinkM_playScript( blinkm_addr, 9,0,0 ); |
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break; |
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} |
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} |
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} |
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void light_cb( const std_msgs::String& light_cmd){ |
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bool solid =false; |
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char color; |
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if (strlen( (const char* ) light_cmd.data) ==2 ){ |
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solid = (light_cmd.data[0] == 'S') || (light_cmd.data[0] == 's'); |
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color = light_cmd.data[1]; |
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} |
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else{ |
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solid= false; |
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color = light_cmd.data[0]; |
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} |
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setLED(solid, color); |
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} |
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ros::NodeHandle nh; |
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ros::Subscriber<std_msgs::String> sub("blinkm" , light_cb); |
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void setup() |
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{ |
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pinMode(13, OUTPUT); //set up the LED |
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BlinkM_beginWithPower(); |
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delay(100); |
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BlinkM_stopScript(blinkm_addr); // turn off startup script |
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setLED(false, 0); //turn off the led |
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nh.initNode(); |
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nh.subscribe(sub); |
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} |
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void loop() |
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{ |
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nh.spinOnce(); |
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delay(1); |
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} |
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