int main(int argc, char** argv)
{
ros::init(argc, argv, "teleop_saetta");
TeleopSaetta teleop_turtle;
initJoy();
ros::NodeHandle n;
int rate = 4;
ros::Rate r(rate);
while (n.ok())
{
ros::spinOnce();
teleop_turtle.keyLoop();
r.sleep();
}
return(0);
}
#include "TinyTimber.h"
#include "GUI.h"
#include "PulseGene.h"
#include "joystick.h"
#include "init.h"
#include "Gate.h"
#include <avr/io.h>
//50% duty cycle, half time on and half time off.
GATE gate = initGATE(0,1,0); //writepulseleft, writepulseright, pulseguard
PULSEGEN pulsegen1 = initPG(0,0,0,0, &gate, 0); //freq, pos, old, saved, gate, whichpulse
PULSEGEN pulsegen2 = initPG(0,3,0,0, &gate, 1);
GUI g = initGUI(&pulsegen1, &pulsegen2, 1); //pulse1, pulse2, pulseused
HELP help = initHelp(&g,0);
Joystick j = initJoy(&help, 0);
int main(void){
init();
INSTALL(&j, joystickPORTE, IRQ_PCINT0); //Right, Left
INSTALL(&j, joystickPORTB, IRQ_PCINT1); //Up, Down, Press
return TINYTIMBER(&g, update, 0);
}