arduino代码

libraries/Rosserial_Arduino_Library/examples/ADC/ADC.pde

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+/* 
+ * rosserial ADC Example
+ * 
+ * This is a poor man's Oscilloscope.  It does not have the sampling 
+ * rate or accuracy of a commerical scope, but it is great to get
+ * an analog value into ROS in a pinch.
+ */
+
+#if (ARDUINO >= 100)
+ #include <Arduino.h>
+#else
+ #include <WProgram.h>
+#endif
+#include <ros.h>
+#include <rosserial_arduino/Adc.h>
+
+ros::NodeHandle nh;
+
+rosserial_arduino::Adc adc_msg;
+ros::Publisher p("adc", &adc_msg);
+
+void setup()
+{ 
+  pinMode(13, OUTPUT);
+  nh.initNode();
+
+  nh.advertise(p);
+}
+
+//We average the analog reading to elminate some of the noise
+int averageAnalog(int pin){
+  int v=0;
+  for(int i=0; i<4; i++) v+= analogRead(pin);
+  return v/4;
+}
+
+long adc_timer;
+
+void loop()
+{
+  adc_msg.adc0 = averageAnalog(0);
+  adc_msg.adc1 = averageAnalog(1);
+  adc_msg.adc2 = averageAnalog(2);
+  adc_msg.adc3 = averageAnalog(3);
+  adc_msg.adc4 = averageAnalog(4);
+  adc_msg.adc5 = averageAnalog(5);
+    
+  p.publish(&adc_msg);
+
+  nh.spinOnce();
+}
+