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Revision 47e26dee

ID47e26deedb4fe15ac5f77d29fe323441a05238a2
Parent 6e7f0a98
Child 9eb9cc2d

Added by Thomas Mullins over 11 years ago

BOM testing code in main.cpp works with rosserial

View differences:

scout_avr/src/Atmega128rfa1.h
9 9

  
10 10
#define MAX_SUBSCRIBERS 2
11 11
#define MAX_PUBLISHERS 2
12
#define INPUT_SIZE 128
13
#define OUTPUT_SIZE 128
12
#define INPUT_SIZE 256
13
#define OUTPUT_SIZE 256
14 14

  
15 15
class Atmega128rfa1
16 16
{
scout_avr/src/main.cpp
2 2

  
3 3
#include "ros.h"
4 4
#include "bom.h"
5

  
5
#include "range.h"
6 6
#include <std_msgs/Int16.h>
7
#include <util/delay.h>
7 8

  
8 9
ros::Publisher *pbom_pub;
9 10

  
......
26 27
  pbom_pub = &bom_pub;
27 28

  
28 29
  nh.initNode();
30
  range_init();
31
  bom_init();
29 32
  nh.subscribe(test_in);
30 33
  nh.advertise(bom_pub);
31 34

  
......
37 40
      id = 0;
38 41
    }
39 42
    set_robot_id(id);
43

  
44
    bom_send(id & 1);
40 45
    for (i = 0; i < 4; i++) {
41
      bom_send(i);
42 46
      int msg = bom_get(i);
43 47
      if (msg != BOM_NO_DATA) {
44 48
        bom_msg.sender = bom_msg_get_robot_id(msg);
......
47 51
        bom_pub.publish(&bom_msg);
48 52
      }
49 53
    }
54

  
50 55
    nh.spinOnce();
56
    _delay_ms(500);
51 57
  }
52 58

  
53 59
  return 0;

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