adc_node.cpp

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//\Author Kai Franke, Robert Bosch LLC

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

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

#define REFERENCE_VOLTAGE 5000 // 5000mV = 5V

int main( int argc, char **argv )
{
  
  //ROS initialization and publisher/subscriber setup
  ros::init( argc, argv, "ADC_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();
  
  AdcDriver* adc[3];
  uint32_t voltage[3];
  
  for( int i = 0; i < 3; ++i)
  {
    adc[i] = new AdcDriver( &Arduino, i );
    if( adc[i]->initialize() == false )
    {
      ROS_ERROR("Error initializing ADC driver");
      return -1;
    }
  }
        
  if( !adc[0]->setReference(REFERENCE_VOLTAGE) )
    return -1;

  ros::Rate loop_rate_Hz(1);

  while( nh.ok() )
  {
    for( int i = 0; i < 3; ++i)
    {
      voltage[i] = adc[i]->read();
    }
    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 );
          
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }
  
  ROS_WARN( "Closing ADC driver." );
  return 0;  
}