root / mikrokopter / arduino / src / main.cpp @ 6499f09b
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1 | 58d82c77 | Tom Mullins | #include "ArduinoHardware.h" // modified version in this directory |
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2 | #include <ros.h> |
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3 | #include <std_msgs/UInt16.h> |
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4 | |||
5 | ros::NodeHandle nh; |
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6 | |||
7 | std_msgs::UInt16 distance; |
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8 | 6499f09b | Tom Mullins | ros::Publisher range_up("range_up", &distance);
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9 | ros::Publisher range_down("range_down", &distance);
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10 | 58d82c77 | Tom Mullins | |
11 | void setup()
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12 | { |
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13 | nh.initNode(); |
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14 | 6499f09b | Tom Mullins | nh.advertise(range_up); |
15 | nh.advertise(range_down); |
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16 | 58d82c77 | Tom Mullins | } |
17 | |||
18 | void loop()
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19 | { |
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20 | 6499f09b | Tom Mullins | distance.data = analogRead(0);
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21 | range_up.publish(&distance); |
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22 | distance.data = analogRead(1);
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23 | range_down.publish(&distance); |
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24 | 58d82c77 | Tom Mullins | nh.spinOnce(); |
25 | } |