Project

General

Profile

Revision daf6a575

IDdaf6a575208a562e4551f9111a98d0c3a636aceb
Parent 1ad3d43a
Child 01f09975

Added by Thomas Mullins about 11 years ago

Added position to published sonar messages

View differences:

scout_avr/src/main.cpp
5 5
#include "range.h"
6 6
#include "stepper.h"
7 7
#include "orb.h"
8
#include <std_msgs/Int16.h> // TODO remove
9 8
#include <bom/bom.h>
10 9
#include <sonar/sonar_distance.h>
11 10
#include <sonar/sonar_toggle.h>
......
84 83
  nh.advertise(bom_pub);
85 84

  
86 85
  /* Headlights (aka Orbs) */
87
  orb_init();
86
  //orb_init();
88 87
  ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",
89 88
      orb_callback);
90 89
  nh.subscribe(orb_sub);
......
129 128
      range_measure(ranges);
130 129
      range_msg.header.stamp = nh.now();
131 130
      range_msg.header.seq++;
132
      range_msg.pos = 0; // TODO fill this
131
      range_msg.pos = step_get_pos();
133 132
      range_msg.distance0 = ranges[0];
134 133
      range_msg.distance1 = ranges[1];
135 134
      range_pub.publish(&range_msg);
scout_avr/src/stepper.cpp
108 108
  if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1);
109 109
  else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1);
110 110
}
111

  
112
int step_get_pos()
113
{
114
  return step.pos;
115
}
scout_avr/src/stepper.h
25 25
void step_sweep();
26 26
void step_enable();
27 27
void step_disable();
28
int step_get_pos();
28 29

  
29 30

  
30 31
#endif

Also available in: Unified diff