ServoControl.cpp

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/*
 * rosserial Servo Control Example
 *
 * This sketch demonstrates the control of hobby R/C servos
 * using ROS and the arduiono
 *
 * For the full tutorial write up, visit
 * www.ros.org/wiki/rosserial_mbed_demos
 *
 */
 
#include "mbed.h"
#include "Servo.h"
#include <ros.h>
#include <std_msgs/UInt16.h>
 
ros::NodeHandle  nh;
 
#ifdef TARGET_LPC1768
Servo servo(p21);
#elif defined(TARGET_KL25Z) || defined(TARGET_NUCLEO_F401RE)
Servo servo(D8);
#else
#error "You need to specify a pin for the Servo"
#endif
DigitalOut myled(LED1);
 
void servo_cb( const std_msgs::UInt16& cmd_msg) {
    servo.position(cmd_msg.data); //set servo angle, should be from 0-180
    myled = !myled;  //toggle led
}
 
 
ros::Subscriber<std_msgs::UInt16> sub("servo", servo_cb);
 
int main() {
 
    nh.initNode();
    nh.subscribe(sub);
 
    while (1) {
        nh.spinOnce();
        wait_ms(1);
    }
}