yikestone/ros_arduino_bridge
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added code for arduino pwm output

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This commit is contained in:
Patrick Tröster 2014-04-28 10:22:15 +02:00
parent e0f00edf8c
commit d83dcb8cb6
2 changed files with 10 additions and 2 deletions
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1
ros_arduino_msgs/CMakeLists.txt
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@ -15,6 +15,7 @@ add_service_files(FILES
DigitalWrite.srv DigitalWrite.srv
ServoRead.srv ServoRead.srv
ServoWrite.srv ServoWrite.srv
AnalogWrite.srv
) )
generate_messages( generate_messages(

11
ros_arduino_python/nodes/arduino_node.py
View File

@ -76,8 +76,11 @@ 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 set pwm values for the pins
rospy.Service('~analog_write', AnalogWrite, self.AnalogWriteHandler)
# Initialize the controlller # Initialize the controlller
self.controller = Arduino(self.port, self.baud, self.timeout) self.controller = Arduino(self.port, self.baud, self.timeout)
# Make the connection # Make the connection
@ -173,7 +176,11 @@ class ArduinoROS():
def DigitalWriteHandler(self, req): def DigitalWriteHandler(self, req):
self.controller.digital_write(req.pin, req.value) self.controller.digital_write(req.pin, req.value)
return DigitalWriteResponse() return DigitalWriteResponse()
def AnalogWriteHandler(self, req):
self.controller.analog_write(req.pin, req.value)
return AnalogWriteRrsponse()
def shutdown(self): def shutdown(self):
# Stop the robot # Stop the robot
try: try: