arduino代码

libraries/Rosserial_Arduino_Library/examples/button_example/button_example.pde

@@ -0,0 +1,61 @@
+/* 
+ * Button Example for Rosserial
+ */
+
+#include <ros.h>
+#include <std_msgs/Bool.h>
+
+
+ros::NodeHandle nh;
+
+std_msgs::Bool pushed_msg;
+ros::Publisher pub_button("pushed", &pushed_msg);
+
+const int button_pin = 7;
+const int led_pin = 13;
+
+bool last_reading;
+long last_debounce_time=0;
+long debounce_delay=50;
+bool published = true;
+
+void setup()
+{
+  nh.initNode();
+  nh.advertise(pub_button);
+  
+  //initialize an LED output pin 
+  //and a input pin for our push button
+  pinMode(led_pin, OUTPUT);
+  pinMode(button_pin, INPUT);
+  
+  //Enable the pullup resistor on the button
+  digitalWrite(button_pin, HIGH);
+  
+  //The button is a normally button
+  last_reading = ! digitalRead(button_pin);
+ 
+}
+
+void loop()
+{
+  
+  bool reading = ! digitalRead(button_pin);
+  
+  if (last_reading!= reading){
+      last_debounce_time = millis();
+      published = false;
+  }
+  
+  //if the button value has not changed for the debounce delay, we know its stable
+  if ( !published && (millis() - last_debounce_time)  > debounce_delay) {
+    digitalWrite(led_pin, reading);
+    pushed_msg.data = reading;
+    pub_button.publish(&pushed_msg);
+    published = true;
+  }
+
+  last_reading = reading;
+  
+  nh.spinOnce();
+}