pwm_node.cpp
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00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Robert Bosch LLC.
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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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00036 
00037 //\Author Kai Franke, Robert Bosch LLC
00038 
00039 // ROS headers
00040 #include <ros/ros.h>
00041 
00042 #include <pwm_driver/pwm_driver.h>
00043 #include <arduino_interface.hpp> 
00044 
00045 int main( int argc, char **argv )
00046 {
00047   
00048   //ROS initialization and publisher/subscriber setup
00049   ros::init( argc, argv, "PWM_Driver" );
00050   ros::NodeHandle nh("~");
00051 
00052   std::string hw_id;
00053   
00054   // Get parameters from .launch file or parameter server, or take defaults
00055   nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" );
00056 
00057   NewArduinoInterface Arduino( hw_id );
00058   Arduino.initialize();
00059   
00060   uint8_t pwm_pin = 5;
00061   uint32_t frequency = 490;
00062   PwmDriver* pwm_driver = new PwmDriver( &Arduino, pwm_pin, frequency ); 
00063   if( pwm_driver->initialize() == false)
00064   {
00065     ROS_ERROR("Error initializing PWM driver");
00066     return -1;
00067   }
00068 
00069   ros::Rate loop_rate_Hz(50);
00070 
00071   float duty_cycle = 0;
00072 
00073   while( nh.ok() )
00074   {
00075     pwm_driver->set(duty_cycle);
00076 
00077     duty_cycle += 0.005;
00078     if( duty_cycle > 1)
00079       duty_cycle = 0;
00080       
00081     ros::spinOnce();
00082     loop_rate_Hz.sleep();
00083   }
00084   
00085   ROS_WARN( "Closing PWM driver." );
00086   return 0;  
00087 }


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