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; } }