#include <DI_ros.h>
Public Member Functions | |
| DigitalInputROS (ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel) | |
| Constructs the DigitalInputROS object on a specified input channel index. More... | |
| ~DigitalInputROS () | |
| Destructor for the DigitalInputROS object. More... | |
| bool | Get () |
| Check the current signal state from a VMX DigitalIO Resource. More... | |
| double | GetCentimeters (uint32_t diff) |
| Converts microsecond distance from GetRawValue() to centimeters. More... | |
| double | GetInches (uint32_t diff) |
| Converts microsecond distance from GetRawValue() to inches. More... | |
| void | Run_t () |
| Provides a method to call the various Publishers of the DigitalInputROS library, advertising distance data in inches and centimeters to the ROS Master node. More... | |
 Public Member Functions inherited from Utils | |
| void | DisplayVMXError (VMXErrorCode vmxerr) |
| Displays the VMXError. More... | |
Constructor & Destructor Documentation
◆ DigitalInputROS()
| DigitalInputROS::DigitalInputROS | ( | ros::NodeHandle * | nh, |
| VMXPi * | vmx, | ||
| uint8_t | channel | ||
| ) |
Constructs the DigitalInputROS object on a specified input channel index.
- Parameters
-
nh Internal reference to the ROS node that the program will use to interact with the ROS system. vmx VMX-pi parameter used to initialize the VMX-pi HAL. channel Parameter to specify the input channel index.
◆ ~DigitalInputROS()
| DigitalInputROS::~DigitalInputROS | ( | ) |
Destructor for the DigitalInputROS object.
Member Function Documentation
◆ Get()
| bool DigitalInputROS::Get | ( | ) |
Check the current signal state from a VMX DigitalIO Resource.
- Returns
- TRUE if a valid DigitalIO signal state was returned, otherwise the error code is returned if FALSE.
◆ GetCentimeters()
| double DigitalInputROS::GetCentimeters | ( | uint32_t | diff | ) |
Converts microsecond distance from GetRawValue() to centimeters.
NOTE: Because the Ultrasonic class is inherently a DIO class since the pins are connected, this method exists for both the UltrasonicROS and DigitalInputROS classes.
- Parameters
-
diff Raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target.
- Returns
- Distance in centimeters.
◆ GetInches()
| double DigitalInputROS::GetInches | ( | uint32_t | diff | ) |
Converts microsecond distance from GetRawValue() to inches.
NOTE: Because the Ultrasonic class is inherently a DIO class since the pins are connected, this method exists for both the UltrasonicROS and DigitalInputROS classes.
- Parameters
-
diff Raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target.
- Returns
- Distance in inches.
◆ Run_t()
| void DigitalInputROS::Run_t | ( | ) |
Provides a method to call the various Publishers of the DigitalInputROS library, advertising distance data in inches and centimeters to the ROS Master node.
The documentation for this class was generated from the following files:
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_io/include/DI_ros.h
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_io/src/DI_ros.cpp
