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/*
* RosSerial BlinkM Example
* This program shows how to control a blinkm
* from an arduino using RosSerial
*/
#include <stdlib.h>
#include <ros.h>
#include <std_msgs/String.h>
//include Wire/ twi for the BlinkM
#include <Wire.h>
extern "C" {
#include "utility/twi.h"
}
#include "BlinkM_funcs.h"
const byte blinkm_addr = 0x09; //default blinkm address
void setLED( bool solid, char color)
{
if (solid)
{
switch (color)
{
case 'w': // white
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0xff,0xff,0xff);
break;
case 'r': //RED
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0xff,0,0);
break;
case 'g':// Green
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0,0xff,0);
break;
case 'b':// Blue
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0,0,0xff);
break;
case 'c':// Cyan
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0,0xff,0xff);
break;
case 'm': // Magenta
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0xff,0,0xff);
break;
case 'y': // yellow
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0xff,0xff,0);
break;
default: // Black
BlinkM_stopScript( blinkm_addr );
BlinkM_fadeToRGB( blinkm_addr, 0,0,0);
break;
}
}
else
{
switch (color)
{
case 'r': // Blink Red
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 3,0,0 );
break;
case 'w': // Blink white
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 2,0,0 );
break;
case 'g': // Blink Green
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 4,0,0 );
break;
case 'b': // Blink Blue
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 5,0,0 );
break;
case 'c': //Blink Cyan
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 6,0,0 );
break;
case 'm': //Blink Magenta
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 7,0,0 );
break;
case 'y': //Blink Yellow
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 8,0,0 );
break;
default: //OFF
BlinkM_stopScript( blinkm_addr );
BlinkM_playScript( blinkm_addr, 9,0,0 );
break;
}
}
}
void light_cb( const std_msgs::String& light_cmd){
bool solid =false;
char color;
if (strlen( (const char* ) light_cmd.data) ==2 ){
solid = (light_cmd.data[0] == 'S') || (light_cmd.data[0] == 's');
color = light_cmd.data[1];
}
else{
solid= false;
color = light_cmd.data[0];
}
setLED(solid, color);
}
ros::NodeHandle nh;
ros::Subscriber<std_msgs::String> sub("blinkm" , light_cb);
void setup()
{
pinMode(13, OUTPUT); //set up the LED
BlinkM_beginWithPower();
delay(100);
BlinkM_stopScript(blinkm_addr); // turn off startup script
setLED(false, 0); //turn off the led
nh.initNode();
nh.subscribe(sub);
}
void loop()
{
nh.spinOnce();
delay(1);
}