Revision 31f4a032
| ID | 31f4a0323d38938bb40b2da834fa73fc15003faf |
Some fixes to BOM, which is now tested and it works
| scout_avr/src/main.cpp | ||
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| 5 | 5 |
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| 6 | 6 |
ros::Publisher *ptest_out; |
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void debug(const char *str) {
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} |
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void callback(const std_msgs::Int16& msg) |
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{
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ptest_out->publish(&msg); |
| ... | ... | |
| 44 | 47 |
#include "range.h" |
| 45 | 48 |
#include "bom.h" |
| 46 | 49 |
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Atmega128rfa1 avr; |
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void debug(const char *str) {
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avr.puts(str); |
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} |
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| 47 | 56 |
int main() |
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{
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char buf[20]; |
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int i; |
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char id = 0; |
|
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unsigned long now, next = 0; |
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Atmega128rfa1 avr; |
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avr.init(); |
| 54 | 63 |
range_init(); |
| 55 | 64 |
bom_init(); |
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set_robot_id(0x2a);
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avr.puts("Hello!\r\n");
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while (1) |
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{
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now = avr.time(); |
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if (now > next) {
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next = now + 100; |
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id++; |
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if (id == 0x40) {
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id = 0; |
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} |
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set_robot_id(id); |
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/*utoa(range_get(0), buf, 10); |
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avr.puts("Range: ");
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avr.puts(buf); |
| ... | ... | |
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itoa(i, buf, 10); |
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avr.puts(buf); |
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avr.puts(": ");
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itoa(msg, buf, 10); |
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itoa(bom_msg_get_robot_id(msg), buf, 10); |
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avr.puts(buf); |
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avr.puts(" (");
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itoa(bom_msg_get_dir(msg), buf, 10); |
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avr.puts(buf); |
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avr.puts(")\r\n");
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} |
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} |
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avr.puts("\r\n");
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} |
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} |
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return 0; |
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