elektron_base_node.cpp File Reference

#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <tf/transform_broadcaster.h>
#include <ros/console.h>
#include <pthread.h>
#include "serialcomm/serialcomm.hpp"
#include "nf/nfv2.h"
#include "math.h"

Include dependency graph for elektron_base_node.cpp:

Go to the source code of this file.

Defines
#define	AXLE_LENGTH   0.355
#define	ENC_TICKS   4000
#define	MAX_VEL   5500
#define	REGULATOR_RATE   100
#define	WHEEL_DIAM   0.1
Functions
void *	listener (void *p)
int	main (int argc, char **argv)
void	readDeviceVitalsTimerCallback (const ros::TimerEvent &)
void	twistCallback (const geometry_msgs::TwistConstPtr &msg)
Variables
ros::Time	cmd_time
uint8_t	commandArray [256]
uint8_t	commandCnt
SerialComm *	CommPort
NF_STRUCT_ComBuf	NFComBuf
uint8_t	rxBuf [256]
uint8_t	rxCnt
uint8_t	rxCommandArray [256]
uint8_t	rxCommandCnt
uint8_t	txBuf [256]
uint8_t	txCnt

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Define Documentation

#define AXLE_LENGTH   0.355

Definition at line 14 of file elektron_base_node.cpp.

#define ENC_TICKS   4000

Definition at line 22 of file elektron_base_node.cpp.

#define MAX_VEL   5500

Definition at line 20 of file elektron_base_node.cpp.

#define REGULATOR_RATE   100

Definition at line 17 of file elektron_base_node.cpp.

#define WHEEL_DIAM   0.1

Definition at line 12 of file elektron_base_node.cpp.

---

Function Documentation

void* listener

(

void *

p

)

Definition at line 68 of file elektron_base_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 84 of file elektron_base_node.cpp.

void readDeviceVitalsTimerCallback

(

const ros::TimerEvent &

)

Definition at line 37 of file elektron_base_node.cpp.

void twistCallback

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 42 of file elektron_base_node.cpp.

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Variable Documentation

ros::Time cmd_time

Definition at line 24 of file elektron_base_node.cpp.

uint8_t commandArray[256]

Definition at line 32 of file elektron_base_node.cpp.

uint8_t commandCnt

Definition at line 33 of file elektron_base_node.cpp.

SerialComm* CommPort

Definition at line 27 of file elektron_base_node.cpp.

NF_STRUCT_ComBuf NFComBuf

Definition at line 26 of file elektron_base_node.cpp.

uint8_t rxBuf[256]

Definition at line 30 of file elektron_base_node.cpp.

uint8_t rxCnt

Definition at line 31 of file elektron_base_node.cpp.

uint8_t rxCommandArray[256]

Definition at line 34 of file elektron_base_node.cpp.

uint8_t rxCommandCnt

Definition at line 35 of file elektron_base_node.cpp.

uint8_t txBuf[256]

Definition at line 28 of file elektron_base_node.cpp.

uint8_t txCnt

Definition at line 29 of file elektron_base_node.cpp.