adc_node.cpp
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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
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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 }


bosch_drivers_basic_nodes
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Mon Oct 6 2014 10:10:31