Revision 49090532
| ID | 490905327f0dbe5d2f11c8b765a5c832fada210a |
Tested rosserial a little with a 328.
It doesn't quite work yet. Writing works, reading has not been tested,
and rosserial acts weirdly inconsistent.
| scout_avr/src/main.cpp | ||
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#include "Atmega128rfa1.h"
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#include "ros.h"
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#include <std_msgs/UInt16.h> |
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/*int main() |
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ros::Publisher *ptest_out; |
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void callback(const std_msgs::UInt16& msg) |
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{
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ptest_out->publish(&msg); |
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} |
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int main() |
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{
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std_msgs::UInt16 counter; |
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ros::NodeHandle nh; |
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ros::Publisher test("rosserial_test", &counter);
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std_msgs::UInt16 msg; |
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ros::Subscriber<std_msgs::UInt16> test_in("test_in", callback);
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ros::Publisher test_out("test_out", &msg);
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ptest_out = &test_out; |
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msg.data = 0; |
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nh.initNode(); |
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nh.advertise(test);
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counter.data = 0;
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nh.subscribe(test_in);
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nh.advertise(test_out);
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while (1) |
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{
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test.publish(&counter); |
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counter.data++; |
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nh.spinOnce(); |
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} |
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return 0; |
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}*/
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} |
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extern "C" |
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/*extern "C"
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{
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#include <stdlib.h> |
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#include <string.h> |
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} |
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#include "Atmega128rfa1.h" |
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int main() |
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{
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char time[20]; |
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Atmega128rfa1 avr; |
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avr.init(); |
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unsigned long now, next = 0; |
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while (1) |
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{
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ultoa(avr.time(), time, 10); |
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avr.write((uint8_t*) time, strlen(time)); |
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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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ultoa(avr.time(), time, 10); |
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avr.write((uint8_t*) time, strlen(time)); |
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avr.write((uint8_t*) "\n\r", 1); |
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} |
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} |
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return 0; |
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} |
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}*/
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