From a6deb52c1d2db71fdc718a8dc74c37219231b604 Mon Sep 17 00:00:00 2001
From: thomas <thomas.vadebout@mailo.com>
Date: Sun, 27 Jun 2021 22:47:17 +0200
Subject: [PATCH] change topic names
---
src/main.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/main.cpp b/src/main.cpp
index d5ef0f3..d4a7f3e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -80,7 +80,6 @@ std_msgs::Bool bauStatusMsg;
ros::Publisher teamStatusPub("team", &teamMsg);
ros::Publisher buttonStatusPub("button_status", &buttonStatusMsg);
-ros::Publisher pullCordStatusPub("pull_cord_status", &pullCordStatusMsg);
ros::Publisher bauStatusPub("BAU_status", &bauStatusMsg);
ros::Publisher pullCordStatusPub("pull_cord_status", &pullCordStatusMsg);
@@ -91,10 +90,10 @@ void flagStatusChange(const std_msgs::Bool &flagStatusMsg);
ros::Subscriber<std_msgs::Bool> flagStatusSub("flag_state", &flagStatusChange);
void armStatusChange(const std_msgs::Bool &armStatusMsg);
-ros::Subscriber<std_msgs::Bool> flagStatusSub("flag_state", &armStatusChange);
+ros::Subscriber<std_msgs::Bool> armStateSub("arm_state", &armStatusChange);
void bauSoftSet(const std_msgs::Bool &bauSoftSetMsg);
-ros::Subscriber<std_msgs::Bool> flagStatusSub("flag_state", &bauSoftSet);
+ros::Subscriber<std_msgs::Bool> bauSoftSub("bau_state", &bauSoftSet);
// LCD screen
LiquidCrystal_I2C lcd(0x27, 16, 2);
@@ -128,6 +127,9 @@ void setup()
pinMode(buttonPin, INPUT_PULLUP);
pinMode(buttonLedPin, OUTPUT);
+ pinMode(bauSoftPin, OUTPUT);
+ pinMode(bauStatusPin, INPUT);
+
digitalWrite(buttonLedPin, HIGH);
lcd.init();
@@ -144,6 +146,7 @@ void setup()
nh.subscribe(estimatedScoreSub);
nh.subscribe(flagStatusSub);
+ nh.subscribe(bauSoftSub);
lcd.clear();
lcd.setCursor(0, 0);
@@ -297,7 +300,4 @@ void loop()
}
digitalWrite(bauSoftPin, bauSoftStatus);
-
-
-
-}
\ No newline at end of file
+}
--
GitLab