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Added AnalogRead (analog_Read) and DigitaRead (digital_read) services

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This commit is contained in:
Patrick Goebel 2015-12-05 19:07:29 -08:00
parent c26830b5c4
commit 1f3ae62769
4 changed files with 23 additions and 1 deletions
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2
ros_arduino_msgs/CMakeLists.txt
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@ -14,9 +14,11 @@ add_message_files(FILES
add_service_files(FILES add_service_files(FILES
DigitalSetDirection.srv DigitalSetDirection.srv
DigitalWrite.srv DigitalWrite.srv
DigitalRead.srv
ServoRead.srv ServoRead.srv
ServoWrite.srv ServoWrite.srv
AnalogWrite.srv AnalogWrite.srv
AnalogRead.srv
) )
generate_messages( generate_messages(

3
ros_arduino_msgs/srv/AnalogRead.srv Executable file
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@ -0,0 +1,3 @@
uint8 pin
---
uint16 value

3
ros_arduino_msgs/srv/DigitalRead.srv Executable file
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@ -0,0 +1,3 @@
uint8 pin
---
bool value

14
ros_arduino_python/nodes/arduino_node.py
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@ -77,9 +77,15 @@ class ArduinoROS():
# A service to turn a digital sensor on or off # A service to turn a digital sensor on or off
rospy.Service('~digital_write', DigitalWrite, self.DigitalWriteHandler) rospy.Service('~digital_write', DigitalWrite, self.DigitalWriteHandler)
# A service to read the value of a digital sensor
rospy.Service('~digital_read', DigitalRead, self.DigitalReadHandler)
# A service to set pwm values for the pins # A service to set pwm values for the pins
rospy.Service('~analog_write', AnalogWrite, self.AnalogWriteHandler) rospy.Service('~analog_write', AnalogWrite, self.AnalogWriteHandler)
# A service to read the value of an analog sensor
rospy.Service('~analog_read', AnalogRead, self.AnalogReadHandler)
# Initialize the controlller # Initialize the controlller
self.controller = Arduino(self.port, self.baud, self.timeout) self.controller = Arduino(self.port, self.baud, self.timeout)
@ -177,10 +183,18 @@ class ArduinoROS():
self.controller.digital_write(req.pin, req.value) self.controller.digital_write(req.pin, req.value)
return DigitalWriteResponse() return DigitalWriteResponse()
def DigitalReadHandler(self, req):
value = self.controller.digital_read(req.pin)
return DigitalReadResponse(value)
def AnalogWriteHandler(self, req): def AnalogWriteHandler(self, req):
self.controller.analog_write(req.pin, req.value) self.controller.analog_write(req.pin, req.value)
return AnalogWriteResponse() return AnalogWriteResponse()
def AnalogReadHandler(self, req):
value = self.controller.analog_read(req.pin)
return AnalogReadResponse(value)
def shutdown(self): def shutdown(self):
# Stop the robot # Stop the robot
try: try: