00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 //\Author Kai Franke, Robert Bosch LLC 00038 00039 // ROS headers 00040 #include <ros/ros.h> 00041 00042 #include <adc_driver/adc_driver.h> 00043 #include <arduino_interface.hpp> 00044 00045 #define REFERENCE_VOLTAGE 5000 // 5000mV = 5V 00046 00047 int main( int argc, char **argv ) 00048 { 00049 00050 //ROS initialization and publisher/subscriber setup 00051 ros::init( argc, argv, "ADC_Driver" ); 00052 ros::NodeHandle nh("~"); 00053 00054 std::string hw_id; 00055 00056 // Get parameters from .launch file or parameter server, or take defaults 00057 nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" ); 00058 00059 NewArduinoInterface Arduino( hw_id ); 00060 Arduino.initialize(); 00061 00062 AdcDriver* adc[3]; 00063 uint32_t voltage[3]; 00064 00065 for( int i = 0; i < 3; ++i) 00066 { 00067 adc[i] = new AdcDriver( &Arduino, i ); 00068 if( adc[i]->initialize() == false ) 00069 { 00070 ROS_ERROR("Error initializing ADC driver"); 00071 return -1; 00072 } 00073 } 00074 00075 if( !adc[0]->setReference(REFERENCE_VOLTAGE) ) 00076 return -1; 00077 00078 ros::Rate loop_rate_Hz(1); 00079 00080 while( nh.ok() ) 00081 { 00082 for( int i = 0; i < 3; ++i) 00083 { 00084 voltage[i] = adc[i]->read(); 00085 } 00086 ROS_INFO("Read ADC values: channel 0: %u.%uV channel 1: %u.%uV channel 2: %u.%uV ", voltage[0] / 1000000, voltage[0] / 1000, voltage[1] / 1000000, voltage[1] / 1000, voltage[2] / 1000000, voltage[2] / 1000 ); 00087 00088 ros::spinOnce(); 00089 loop_rate_Hz.sleep(); 00090 } 00091 00092 ROS_WARN( "Closing ADC driver." ); 00093 return 0; 00094 }