int main(int argc, char **argv){
int sig = 1;
int gpio_err = 0;
int gpio_check =0;
ros::init(argc, argv, "motor_controller_node");
ros::NodeHandle nh;
ros::Publisher chatter_pub = nh.advertise<std_msgs::String>("say_gpio", 1000);
ros::Rate loop_rate(5);
int count = 0;
gpio_err = gpio_init(PIN);
while(ros::ok() && gpio_err == 1){
std_msgs::String msg;
std::stringstream ss;
ss << "Signal: " << sig;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
if(gpio_err == 1) gpio_check = gpio_on(PIN, sig);
else std::cout << "GPIO Error\n";
sig = 1 - sig;
}
return 0;
}
void system_init()
{
/* Stop the watchdog */
startup_watchdog_disable(); /* Do it right now, before it gets a chance to break in */
/* Note: Brown-Out detection must be powered to operate the ADC. adc_on() will power
* it back on if called after system_init() */
system_brown_out_detection_config(0);
system_set_default_power_state();
clock_config(SELECTED_FREQ);
set_pins(common_pins);
gpio_on();
/* System tick timer MUST be configured and running in order to use the sleeping
* functions */
systick_timer_on(1); /* 1ms */
systick_start();
}
void led_on( uint8_t id)
{
gpio_on(id);
}
