机器人微控制器编程（CoCube）-突破边界
机器人微控制器编程（CoCube）-突破边界
将C语言+嵌入式+单片机+ROS2等相关知识点，有机融合到一门课程之中。
突破windows或linux的限制，突破电脑或手机的限制，突破单片机原有的理论实践体系，全面提升到CoCube机器人平台。
模拟量采集和转换：
#include "Arduino.h"
#include <ESP32AnalogRead.h>
ESP32AnalogRead adc;
void setup()
{
adc.attach(34);
Serial.begin(115200);
}
void loop()
{
delay(50);
Serial.println("Voltage = "+String(adc.readVoltage()));
}机器人电池电压的实时监控：
#include <micro_ros_arduino.h>
#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/float32.h>
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
#endif
#define BAT_DET 34
rcl_publisher_t publisher;
std_msgs__msg__Float32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
#define LED_PIN 13
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
void error_loop(){
while(1){
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
delay(100);
}
}
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
RCLC_UNUSED(last_call_time);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
}
}
void setup() {
set_microros_wifi_transports("***", "***", "***", 8888);
pinMode(BAT_DET, INPUT);
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);
delay(2000);
allocator = rcl_get_default_allocator();
//create init_options
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
// create node
RCCHECK(rclc_node_init_default(&node, "robot_battery_wifi_node", "", &support));
// create publisher
RCCHECK(rclc_publisher_init_best_effort(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
"robot_battery"));
msg.data = 0.66;
}
void loop() {
float battery = 4.21 * analogRead(BAT_DET) / 2435;
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data=battery;
delay(1000);
}不仅掌握的模拟量基本读取，也能知道其应用，例如电池电量测量，环境亮度监测等一系列涉及到具体机器人各环节的基础知识点。
从原有枯燥的单片机知识点融合到机器人细节设计的实际调试。
C和C++的区别，电脑C++编程和嵌入式C编程，代码如何保持相似的风格。
ESP32：
RCCHECK(rclc_publisher_init_best_effort( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "topic_name")); RCCHECK(rclc_publisher_init_default( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "topic_name"));
PC：
rclcpp::QoS qos(rclcpp::KeepLast(7)); pub_ = this->create_publisher<std_msgs::msg::String>("chatter", qos); sub_ = create_subscription<std_msgs::msg::String>("chatter", rclcpp::SensorDataQoS(), callback); sub_ = create_subscription<std_msgs::msg::String>("chatter", 10, callback);