Zill Khan / Mbed 2 deprecated ROS_HCSR04_test

Integration of HCSR04 with Nucleo board. ROS Enabled

Dependencies:   mbed HCSR04

Files at this revision

API Documentation at this revision

Revision 5:1a7d0889cbcf, committed 2021-09-28

Comitter:
zillkhan
Date:
Tue Sep 28 12:46:44 2021 +0000
Parent:
4:13cda079f08d
Commit message:
final changes

Changed in this revision

HCSR04.lib Show annotated file Show diff for this revision Revisions of this file
SHARPIR.lib Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Tue Sep 28 12:46:44 2021 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/antoniolinux/code/HCSR04/#86b2086be101

--- a/SHARPIR.lib	Mon Sep 27 09:34:09 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/zillkhan/code/SHARPIR_GP2Y0A51SK0F/#acdd61a2aac7

--- a/main.cpp	Mon Sep 27 09:34:09 2021 +0000
+++ b/main.cpp	Tue Sep 28 12:46:44 2021 +0000
@@ -1,32 +1,31 @@
+#include "mbed.h"
 #include <ros.h>
-#include <std_msgs/Float32.h>
 #include <std_msgs/String.h>
-#include "SHARPIR.h"
-
+#include "hcsr04.h"
 
 ros::NodeHandle  nh;
 
-std_msgs::Float32 data;
-ros::Publisher sharpir("sharpir", &data);
+std_msgs::String data;
+ros::Publisher ultrasonic("ultrasonic", &data);
 
-SHARPIR Sensor(A0); 
-
+//D12 TRIGGER D11 ECHO
+HCSR04 sensor(D8, D9);
 
 int main() {
-    float DistanceCM;
-    
+    char buffer[50];
+
     nh.initNode();
-    nh.advertise(sharpir);
-    
+    nh.advertise(ultrasonic);
+
     while (1) { //creates an eternal loop
-    
-        DistanceCM=Sensor.cm();  
-        //sprintf (buffer, "%f", DistanceCM);
-        
-        data.data = DistanceCM;
-        sharpir.publish( &data );
-        
+
+        long distance = sensor.distance();
+        sprintf (buffer, "%d", distance);
+
+        data.data = buffer;
+        ultrasonic.publish( &data );
+
         nh.spinOnce();
         wait_ms(1000);
     }
-}
+}
\ No newline at end of file