Revision 6499f09b
| ID | 6499f09b560e443f3ec0176b56ca2ab3fc646dd5 |
Arduino now reads 2 sonars and publishes
It publishes to /range_up and /range_down, from pins A0 and A1.
| mikrokopter/arduino/src/main.cpp | ||
|---|---|---|
| 5 | 5 |
ros::NodeHandle nh; |
| 6 | 6 |
|
| 7 | 7 |
std_msgs::UInt16 distance; |
| 8 |
ros::Publisher range("range", &distance);
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|
| 8 |
ros::Publisher range_up("range_up", &distance);
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|
| 9 |
ros::Publisher range_down("range_down", &distance);
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|
| 9 | 10 |
|
| 10 | 11 |
void setup() |
| 11 | 12 |
{
|
| 12 | 13 |
nh.initNode(); |
| 13 |
nh.advertise(range); |
|
| 14 |
nh.advertise(range_up); |
|
| 15 |
nh.advertise(range_down); |
|
| 14 | 16 |
} |
| 15 | 17 |
|
| 16 | 18 |
void loop() |
| 17 | 19 |
{
|
| 18 |
distance.data = 12; |
|
| 19 |
range.publish(&distance); |
|
| 20 |
distance.data = analogRead(0); |
|
| 21 |
range_up.publish(&distance); |
|
| 22 |
distance.data = analogRead(1); |
|
| 23 |
range_down.publish(&distance); |
|
| 20 | 24 |
nh.spinOnce(); |
| 21 | 25 |
} |
Also available in: Unified diff