int main(int argc, char **argv) {
// Initialise node
ros::init(argc, argv, "joint_state_publisher_fedar");
// Initialise Nodehandler
ros::NodeHandle nh;
ros::Publisher jointPublisher = nh.advertise<sensor_msgs::JointState>("joint_states", 100);
// Refresh rate
ros::Rate loop_rate(30);
motor_upper = initializeMotor(108);
motor_lower = initializeMotor(109);
while(ros::ok()) {
jointPublish(jointPublisher);
ros::spinOnce();
loop_rate.sleep();
}
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initializeMotor();
initializeADC10();
P1DIR |= BIT0;
P1DIR |= BIT6;
for (;;){
leftSensorVoltage=getLeftSensorVoltage();
if(leftSensorVoltage < LEFTDISTANCE){
P1OUT &= ~BIT0;
moveRobot(SMALLRIGHT);
}
else{
P1OUT |= BIT0;
moveRobot(FORWARD);
}
rightSensorVoltage=getRightSensorVoltage();
if(rightSensorVoltage<RIGHTDISTANCE){
P1OUT &= ~BIT6;
moveRobot(SMALLLEFT);
}
else{
P1OUT |= BIT6;
moveRobot(FORWARD);
}
}
return 0;
}
gui_003::gui_003(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
GraphicsView = new QGraphicsView_( this);
Scene = new QGraphicsScene( GraphicsView);
Item = new QGraphicsPixmapItem();
Player = new VideoPlayer( this);
Motors = new MotorCommands( this);
connect( Player, SIGNAL( sendFrame( QImage)), this, SLOT( onSendFrame( QImage)));
connect( GraphicsView, SIGNAL( fastScroll( int)), this, SLOT( onFastScroll( int)));
connect( GraphicsView, SIGNAL( highResolutionRegion( QRect)), this, SLOT( onHighResolutionRegion( QRect)));
connect( this, SIGNAL( moveFocus( int)), Motors, SLOT( onMoveFocus( int)));
connect( this, SIGNAL( moveX( int)), Motors, SLOT( onMoveX( int)));
connect( this, SIGNAL( moveY( int)), Motors, SLOT( onMoveY( int)));
this->setFixedSize(960, 700);
ui.toolBar->setMovable( false);
ui.toolBar_2->setMovable( false);
ui.toolBar_3->setMovable( false);
gui_003::setCentralWidget( GraphicsView);
GraphicsView->setVerticalScrollBarPolicy( Qt::ScrollBarAlwaysOff);
GraphicsView->setHorizontalScrollBarPolicy( Qt::ScrollBarAlwaysOff);
ui.actionRGB->setCheckable( true);
ui.actionLab->setCheckable( true);
ui.actionCrossCursor->setCheckable( true);
ui.actionRGB->setIcon( QIcon( "Resources/rgb.png"));
ui.actionLab->setIcon( QIcon( "Resources/lab.png"));
ui.actionCrossCursor->setIcon( QIcon( "Resources/cross.png"));
ui.actionSave->setIcon( QIcon( "Resources/Save-icon.png"));
ui.actionUp->setIcon( QIcon( "Resources/up.png"));
ui.actionDown->setIcon( QIcon( "Resources/down.png"));
ui.actionLeft->setIcon( QIcon( "Resources/reverse.png"));
ui.actionRight->setIcon( QIcon( "Resources/forward.png"));
QActionGroup* filter_group = new QActionGroup( this );
ui.actionLab->setActionGroup( filter_group);
ui.actionRGB->setActionGroup( filter_group);
//position the horizontal movement controls
QWidget* HorizontalSpacer = new QWidget();
HorizontalSpacer->setFixedWidth( 330);
ui.toolBar_3->addWidget( HorizontalSpacer);
ui.toolBar_3->addAction( ui.actionLeft);
ui.toolBar_3->addSeparator();
ui.toolBar_3->addAction( ui.actionRight);
//position the vertical movement controls
QWidget* VerticalSpacer = new QWidget();
VerticalSpacer->setFixedHeight( 210);
ui.toolBar_2->addWidget( VerticalSpacer);
ui.toolBar_2->addAction( ui.actionUp);
ui.toolBar_2->addSeparator();
ui.toolBar_2->addAction( ui.actionDown);
//position the main toolbar controls
ui.toolBar->addAction( ui.actionSave);
ui.toolBar->addAction( ui.actionCrossCursor);
QWidget* maintoolbar_spacer = new QWidget();
maintoolbar_spacer->setFixedWidth( 270);
ui.toolBar->addWidget( maintoolbar_spacer);
ui.toolBar->addAction( ui.actionRGB);
ui.toolBar->addSeparator();
ui.toolBar->addAction( ui.actionLab);
//set cursor type over the main window parts
ui.toolBar->setCursor( Qt::PointingHandCursor);
ui.toolBar_2->setCursor( Qt::PointingHandCursor);
ui.toolBar_3->setCursor( Qt::PointingHandCursor);
//color scheme is default
Player->LabImage = false;
ui.actionRGB->setChecked( true);
Player->start();
//motors
initializeMotor();
//focus
this->setFocus();
}
