robchair_joystick_node.cpp

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* Author: Gonçalo Cabrita on 28/05/2012
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#include <ros/ros.h>
#include <can_msgs/CANFrame.h>

#define PC 0
#define JOYSTICK 10

typedef enum _JoystickFunction {
    
    TurnOff = 0,
    TurnOn = 1,
    DataFromJoystick = 4
    
} EncoderFunction;
    
void turnJoystickOn(){ sendCANFrame(JOYSTICK, TurnOn, NULL, 0); }
void turnJoystickOff(){ sendCANFrame(JOYSTICK, TurnOff, NULL, 0); }
    
void sendCANFrame(RobChairDS destination, char function, char * data, int data_count);
void receivedCANFrame(const can_msgs::CANFrame::ConstPtr& frame_msg);


int main(int argc, char** argv)
{
        ros::init(argc, argv, "robchair_joystick_node");
    
        ROS_INFO("RobChair Joystick for ROS");
    
    ros::NodeHandle n;
        ros::NodeHandle n("~");
    
    ros::Rate r(10.0);
        while(n.ok())
        {
        ros::spinOnce();
        r.sleep();
    }
    
    return 0;
}

// EOF