root / scout_avr / src / main.cpp @ f115416e
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| 1 | 807483bf | Tom Mullins | #if 0 ///////////////////////////////////////////////
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| 2 | |||
| 3 | 49090532 | Tom Mullins | #include "ros.h"
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| 4 | cf115e3d | Tom Mullins | #include <std_msgs/Int16.h>
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| 5 | 88fb3a79 | Tom Mullins | |
| 6 | 49090532 | Tom Mullins | ros::Publisher *ptest_out;
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| 7 | |||
| 8 | cf115e3d | Tom Mullins | void callback(const std_msgs::Int16& msg)
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| 9 | 49090532 | Tom Mullins | {
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| 10 | ptest_out->publish(&msg);
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| 11 | }
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| 12 | |||
| 13 | int main()
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| 14 | 88fb3a79 | Tom Mullins | {
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| 15 | ros::NodeHandle nh;
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| 16 | cf115e3d | Tom Mullins | std_msgs::Int16 msg;
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| 17 | ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
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| 18 | 49090532 | Tom Mullins | ros::Publisher test_out("test_out", &msg);
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| 19 | |||
| 20 | ptest_out = &test_out;
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| 21 | 88fb3a79 | Tom Mullins | |
| 22 | 49090532 | Tom Mullins | msg.data = 0;
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| 23 | 88fb3a79 | Tom Mullins | nh.initNode();
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| 24 | 49090532 | Tom Mullins | nh.subscribe(test_in);
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| 25 | nh.advertise(test_out);
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| 26 | 88fb3a79 | Tom Mullins | |
| 27 | while (1)
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| 28 | {
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| 29 | nh.spinOnce();
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| 30 | }
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| 31 | |||
| 32 | return 0;
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| 33 | 49090532 | Tom Mullins | }
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| 34 | 88fb3a79 | Tom Mullins | |
| 35 | 807483bf | Tom Mullins | #else ///////////////////////////////////////////////
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| 36 | |||
| 37 | extern "C" |
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| 38 | 88fb3a79 | Tom Mullins | {
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| 39 | #include <stdlib.h> |
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| 40 | #include <string.h> |
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| 41 | } |
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| 42 | |||
| 43 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
| 44 | 1c3c96ce | Tom Mullins | #include "range.h" |
| 45 | f115416e | Tom Mullins | #include "bom.h" |
| 46 | 49090532 | Tom Mullins | |
| 47 | 88fb3a79 | Tom Mullins | int main()
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| 48 | {
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| 49 | 1c3c96ce | Tom Mullins | char buf[20]; |
| 50 | f115416e | Tom Mullins | int i;
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| 51 | cf115e3d | Tom Mullins | unsigned long now, next = 0; |
| 52 | 88fb3a79 | Tom Mullins | Atmega128rfa1 avr; |
| 53 | avr.init(); |
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| 54 | 1c3c96ce | Tom Mullins | range_init(); |
| 55 | f115416e | Tom Mullins | bom_init(); |
| 56 | set_robot_id(0x2a);
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| 57 | 88fb3a79 | Tom Mullins | while (1) |
| 58 | {
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| 59 | 49090532 | Tom Mullins | now = avr.time(); |
| 60 | if (now > next) {
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| 61 | 1c3c96ce | Tom Mullins | next = now + 100;
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| 62 | f115416e | Tom Mullins | /*utoa(range_get(0), buf, 10);
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| 63 | avr.puts("Range: ");
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| 64 | avr.puts(buf);
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| 65 | avr.puts(", ");
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| 66 | 807483bf | Tom Mullins | utoa(range_get(1), buf, 10);
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| 67 | f115416e | Tom Mullins | avr.puts(buf);*/
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| 68 | for (i = 0; i < 4; i++) { |
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| 69 | bom_send(i); |
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| 70 | int msg = bom_get(i);
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| 71 | if (msg != BOM_NO_DATA) {
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| 72 | avr.puts("BOM ");
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| 73 | itoa(i, buf, 10);
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| 74 | avr.puts(buf); |
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| 75 | avr.puts(": ");
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| 76 | itoa(msg, buf, 10);
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| 77 | avr.puts(buf); |
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| 78 | } |
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| 79 | cf115e3d | Tom Mullins | } |
| 80 | f115416e | Tom Mullins | avr.puts("\r\n");
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| 81 | 49090532 | Tom Mullins | } |
| 82 | 88fb3a79 | Tom Mullins | } |
| 83 | return 0; |
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| 84 | cf115e3d | Tom Mullins | } |
| 85 | 807483bf | Tom Mullins | |
| 86 | #endif ////////////////////////////////////////////// |