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changed buttons publish to rise and fall #16

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merged 1 commit into from
Jun 23, 2023
Merged

changed buttons publish to rise and fall #16

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1 change: 0 additions & 1 deletion include/main.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,6 @@ std::map<double, uint8_t> servo_voltage_configuration{
#define MOTOR_FL MOTOR4
#define MOTOR_RR MOTOR2
#define MOTOR_RL MOTOR3
time_t last_button_press_time[BUTTONS_COUNT];

constexpr uint8_t POLARITY = 0b00111100;
constexpr float ROBOT_LENGTH = 0.197;
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29 changes: 17 additions & 12 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,22 @@ std_msgs__msg__Bool button_msgs[BUTTONS_COUNT];

static uint32_t spin_count = 1;

static void button1Callback() {
static void button1FallCallback() {
buttons_publish_flag[0] = true;
}

static void button2Callback() {
static void button2FallCallback() {
buttons_publish_flag[1] = true;
}

static void button1RiseCallback() {
buttons_publish_flag[0] = false;
}

static void button2RiseCallback() {
buttons_publish_flag[1] = false;
}

void range_sensors_msg_handler() {
osEvent evt1 = distance_sensor_mail_box.get(0);
if (evt1.status == osEventMail) {
Expand Down Expand Up @@ -112,14 +120,8 @@ void battery_msg_handler() {

void button_msgs_handler() {
for(auto i = 0u; i < BUTTONS_COUNT; ++i){
if (buttons_publish_flag[i]) {
button_msgs[i].data = true;
buttons_publish_flag[i] = false;
publish_button_msg(&button_msgs[i], i);
last_button_press_time[i] = time(NULL);
}
else if(time(NULL) - last_button_press_time[i] > button_release_time){
button_msgs[i].data = false;
if (buttons_publish_flag[i] != button_msgs[i].data) {
button_msgs[i].data = buttons_publish_flag[i];
publish_button_msg(&button_msgs[i], i);
}
}
Expand Down Expand Up @@ -309,8 +311,11 @@ int main() {

button1.mode(PullUp);
button2.mode(PullUp);
button1.fall(button1Callback);
button2.fall(button2Callback);
button1.fall(button1FallCallback);
button2.fall(button2FallCallback);
button1.rise(button1RiseCallback);
button2.rise(button2RiseCallback);


bool distance_sensors_init_flag = false;
bool imu_init_flag = false;
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3 changes: 2 additions & 1 deletion src/microros.cpp
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Expand Up @@ -45,6 +45,7 @@ bool microros_init() {
rcl_allocator = rcl_get_default_allocator();
RCCHECK(rclc_support_init(&support, 0, NULL, &rcl_allocator));
RCCHECK(rclc_node_init_default(&node, NODE_NAME, "", &support));

if (not init_wheels_command_subscriber() or
not init_servos_command_subscriber() or
not init_wheels_state_publisher() or
Expand Down Expand Up @@ -151,7 +152,7 @@ bool init_range_publishers() {

bool init_button_publishers() {
for (auto i = 0u; i < BUTTONS_COUNT; ++i) {
RCCHECK(rclc_publisher_init_best_effort(
RCCHECK(rclc_publisher_init_default(
&buttons_pubs[i],
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool),
Expand Down