//--------------------------------------------------------------
void ofApp::setup(){
// listen on the given port
cout << "listening for osc messages on port " << PORT << "\n";
receiver.setup(PORT);
current_msg_string = 0;
mouseX = 0;
mouseY = 0;
mouseButtonState = "";
ofSetFrameRate(24);
ofBackground(30, 30, 130);
l1.setPosition(200, 300, 50);
l2.setPosition(-200, -200, 50);
dollHead = new DollHead();
tempPitch = tempYaw = tempRoll = 0;
// pitch: 20.2041 heading: 0.343797 roll: 95.8658
listening = true;
keyboardMotorTest = true;
#ifdef ARDUINO_PRESENT
arduino = Arduino();
arduino.setup();
#endif
}
int main( int argc, char **argv )
{
//ROS initialization and publisher/subscriber setup
ros::init( argc, argv, "GPIO_Driver" );
ros::NodeHandle nh("~");
std::string hw_id;
// Get parameters from .launch file or parameter server, or take defaults
nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" );
NewArduinoInterface Arduino( hw_id );
GpioDriver* gpio_input = new GpioDriver( &Arduino, INPUT_PIN );
GpioDriver* gpio_output = new GpioDriver( &Arduino, OUTPUT_PIN );
if( gpio_input->initialize() == false || gpio_output->initialize() == false )
{
ROS_ERROR("Error initializing GPIO driver");
return -1;
}
ros::Rate loop_rate_Hz(10);
loop_rate_Hz.sleep();
bool value = 1;
bool value2 = 0;
while( nh.ok() )
{
if( !gpio_output->set( value ) )
{
return -1;
}
value = !value;
value2 = gpio_input->get( bosch_drivers_common::FLOATING );
ROS_INFO("Read value %i", value2);
ros::spinOnce();
loop_rate_Hz.sleep();
}
ROS_WARN( "Closing GPIO driver." );
return 0;
}
int main( int argc, char **argv )
{
//ROS initialization and publisher/subscriber setup
ros::init( argc, argv, "Encoder_Driver" );
ros::NodeHandle nh("~");
std::string hw_id;
// Get parameters from .launch file or parameter server, or take defaults
nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" );
ROS_INFO("Initializing Arduino");
NewArduinoInterface Arduino( hw_id );
Arduino.initialize();
ROS_INFO("Creating fast Encoder");
// create new encoder driver using pins 3 and 4
EncoderDriver* encoder_driver = new EncoderDriver( &Arduino , 4, 3 );
encoder_driver->invertOutput();
ROS_INFO("Initializing Encoder");
if( encoder_driver->initialize() == false)
{
ROS_ERROR("Error initializing encoder driver");
return -1;
}
ROS_INFO("Creating slow Encoder");
// create new encoder driver using pins 5 and 6
EncoderDriver* encoder_driver2 = new EncoderDriver( &Arduino , 5, 6 );
ROS_INFO("Initializing slow Encoder");
if( encoder_driver2->initialize() == false)
{
ROS_ERROR("Error initializing encoder driver");
return -1;
}
ros::Rate loop_rate_Hz(1);
int64_t position, position2;
ROS_INFO("Setting initial position");
encoder_driver->setPosition(0);
encoder_driver2->setPosition(0);
ROS_INFO("Start reading current position every second...");
while( nh.ok() )
{
position = encoder_driver->getPosition();
position2 = encoder_driver2->getPosition();
ROS_INFO("Position1: %li Position2: %li", position, position2);
ros::spinOnce();
loop_rate_Hz.sleep();
}
ROS_WARN( "Closing encoder driver." );
return 0;
}
WaterActuator::WaterActuator () : _arduino(Arduino(8083)) {
}
TemperatureSensor::TemperatureSensor() : _arduino(Arduino(8086)) {
}
