arduino代码

2026-07-18 18:22:58 +08:00
parent 2b7a320983
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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_arduino_demos
+ *
+ * For more information on the Arduino Servo Library
+ * Checkout :
+ * http://www.arduino.cc/en/Reference/Servo
+ */
+
+#if (ARDUINO >= 100)
+ #include <Arduino.h>
+#else
+ #include <WProgram.h>
+#endif
+
+#include <Servo.h> 
+#include <ros.h>
+#include <std_msgs/UInt16.h>
+
+ros::NodeHandle  nh;
+
+Servo servo;
+
+void servo_cb( const std_msgs::UInt16& cmd_msg){
+  servo.write(cmd_msg.data); //set servo angle, should be from 0-180  
+  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
+}
+
+
+ros::Subscriber<std_msgs::UInt16> sub("servo", servo_cb);
+
+void setup(){
+  pinMode(13, OUTPUT);
+
+  nh.initNode();
+  nh.subscribe(sub);
+  
+  servo.attach(9); //attach it to pin 9
+}
+
+void loop(){
+  nh.spinOnce();
+  delay(1);
+}