| Topic | function | Type |
|---|---|---|
/motor_0/send |
mav(0, msg) |
Publish |
/motor_1/send |
mav(1, msg) |
Publish |
/motor_2/send |
mav(2, msg) |
Publish |
/motor_3/send |
mav(3, msg) |
Publish |
/analog_0/recv |
analog(0) |
Subscribe |
/analog_1/recv |
analog(1) |
Subscribe |
/analog_2/recv |
analog(2) |
Subscribe |
/analog_3/recv |
analog(3) |
Subscribe |
/analog_4/recv |
analog(4) |
Subscribe |
/analog_5/recv |
analog(5) |
Subscribe |
/analog_6/recv |
analog(6) |
Subscribe |
/analog_7/recv |
analog(7) |
Subscribe |
/digital_0/recv |
digital10(0) |
Subscribe |
/digital_1/recv |
digital10(0) |
Subscribe |
/digital_2/recv |
digital10(0) |
Subscribe |
/digital_3/recv |
digital10(0) |
Subscribe |
/digital_4/recv |
digital10(0) |
Subscribe |
/digital_5/recv |
digital10(0) |
Subscribe |
/digital_6/recv |
digital10(0) |
Subscribe |
/digital_7/recv |
digital10(0) |
Subscribe |
/servo_0/send |
set_servo_position(0, msg) |
Publish |
/servo_0/recv |
get_servo_position(0) |
Subscribe |
=====
lab5 requires:
- analog(0) //sonar sensor RECV
- servo(0) //servo SEND
- mav(0, VEL) //left motor SEND
- mav(3, VEL) //right motor SEND
have a subscriber filling a 5-index array. In the callback:
- move servo
- drive
- sleep subscriber thread. (when the thread wakes up, it will read from the sonar