encoder_node.cpp

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//\Author Kai Franke and Philip Roan, Robert Bosch LLC

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

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

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

  ROS_INFO("Initializing Arduino");
  NewArduinoInterface Arduino( hw_id );
  Arduino.initialize();

  ROS_INFO("Creating fast Encoder");  
  // create new encoder driver using pins 3 and 4
  EncoderDriver* encoder_driver = new EncoderDriver( &Arduino , 4, 3 ); 
  encoder_driver->invertOutput();
  
  ROS_INFO("Initializing Encoder");
  if( encoder_driver->initialize() == false)
  {
    ROS_ERROR("Error initializing encoder driver");
    return -1;
  }

  ROS_INFO("Creating slow Encoder");  
  // create new encoder driver using pins 5 and 6
  EncoderDriver* encoder_driver2 = new EncoderDriver( &Arduino , 5, 6 ); 

  ROS_INFO("Initializing slow Encoder");
  if( encoder_driver2->initialize() == false)
  {
    ROS_ERROR("Error initializing encoder driver");
    return -1;
  }
        
  ros::Rate loop_rate_Hz(1);

  int64_t position, position2;
  ROS_INFO("Setting initial position");
  encoder_driver->setPosition(0);
  encoder_driver2->setPosition(0);

  ROS_INFO("Start reading current position every second...");

  while( nh.ok() )
  {
    position = encoder_driver->getPosition();
    
    position2 = encoder_driver2->getPosition();

    ROS_INFO("Position1: %li    Position2: %li", position, position2);
    
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }
  
  ROS_WARN( "Closing encoder driver." );
  return 0;  
}