int main(void)
{
// TivaC application specific code
MAP_FPUEnable();
MAP_FPULazyStackingEnable();
// TivaC system clock configuration. Set to 80MHz.
MAP_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
uint8_t button_debounced_delta;
uint8_t button_raw_state;
ButtonsInit();
// ROS nodehandle initialization and topic registration
nh.initNode();
nh.advertise(button_publisher);
while (1)
{
uint8_t button_debounced_state = ButtonsPoll(&button_debounced_delta, &button_raw_state);
// Publish message to be transmitted.
button_msg.sw1.data = button_debounced_state & LEFT_BUTTON;
button_msg.sw2.data = button_debounced_state & RIGHT_BUTTON;
button_publisher.publish(&button_msg);
// Handle all communications and callbacks.
nh.spinOnce();
// Delay for a bit.
nh.getHardware()->delay(100);
}
}
void setup()
{
RelayShield::begin();
node_handle.getHardware()->setBaud(115200);
node_handle.initNode();
node_handle.subscribe(relay_subscriber);
}
int main(void)
{
SetSysClockTo56();
// ROS nodehandle initialization and topic registration
nh.initNode();
nh.advertise(chatter);
// Initialize LED
GPIO_InitTypeDef GPIO_Config;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_Config.GPIO_Pin = GPIO_Pin_5;
GPIO_Config.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Config.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_Config);
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
while (1)
{
// Toggle LED
if (GPIO_ReadOutputDataBit(GPIOB, GPIO_Pin_5))
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
else
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
// Publish message to be transmitted.
str_msg.data = hello;
chatter.publish(&str_msg);
// Handle all communications and callbacks.
nh.spinOnce();
// Delay for a bit.
nh.getHardware()->delay(100);
}
}