int main(int argc, char **argv) {
Tserial* p;
p = new Tserial();
p->connect(UART_COMM_PORT, UART_BAUD_RATE, spNONE);
ros::init(argc, argv, "yaw_publisher");
ros::NodeHandle n;
ros::Publisher yaw_pub = n.advertise<std_msgs::Float32>("yaw", 10);
std_msgs::Float32 msg;
while(ros::ok()) {
char data_in[10];
while(p->getChar() != '!');
p->getArray(data_in, 8);
msg.data = convertDataToVal2(data_in);
yaw_pub.publish(msg);
}
p->disconnect();
return 0;
}
int main()
{ char a;
Tserial *com;
com = new Tserial();
com->connect("COM11", 9600, spNONE); //check com port
cvWaitKey(5000);
while(1)
{
a=com->getChar();
cout<<a<<endl;
//cvWaitKey(1000);
// cout<<"i";
}
}
double ReadIR(Tserial& serial)
{
int nbytes = serial.getNbrOfBytes();
std::stringstream ss;
for(int i = 0; i < nbytes; i++)
{
ss << serial.getChar();
}
double distance;
while(ss.good())
{
std::string str;
std::getline(ss,str);
if(!str.empty())
{
std::stringstream test(str);
test >> distance;
}
}
