pwm_node.cpp

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//\Author Kai Franke, Robert Bosch LLC

// ROS headers
#include <ros/ros.h>

#include <pwm_driver/pwm_driver.h>
#include <arduino_interface.hpp> 

int main( int argc, char **argv )
{
  
  //ROS initialization and publisher/subscriber setup
  ros::init( argc, argv, "PWM_Driver" );
  ros::NodeHandle nh("~");

  std::string hw_id;
  
  // Get parameters from .launch file or parameter server, or take defaults
  nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" );

  NewArduinoInterface Arduino( hw_id );
  Arduino.initialize();
  
  uint8_t pwm_pin = 5;
  uint32_t frequency = 490;
  PwmDriver* pwm_driver = new PwmDriver( &Arduino, pwm_pin, frequency ); 
  if( pwm_driver->initialize() == false)
  {
    ROS_ERROR("Error initializing PWM driver");
    return -1;
  }

  ros::Rate loop_rate_Hz(50);

  float duty_cycle = 0;

  while( nh.ok() )
  {
    pwm_driver->set(duty_cycle);

    duty_cycle += 0.005;
    if( duty_cycle > 1)
      duty_cycle = 0;
      
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }
  
  ROS_WARN( "Closing PWM driver." );
  return 0;  
}