ros now works on QT Py

RCMexamples · Jul 25, 2024 · dee5ac8 · dee5ac8
1 parent 21520d4
commit dee5ac8
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Showing 3 changed files with 12 additions and 2 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -2,6 +2,7 @@
   "cSpell.words": [
     "Lcolor",
     "Mecanum",
+    "microcontroller",
     "microros",
     "millis",
     "MOSI",

diff --git a/RCMv2/RCMv2.ino b/RCMv2/RCMv2.ino
@@ -4,7 +4,7 @@
 
 /**
 uncomment one of the following lines depending on which hardware you have
-Remember to also choose the "environment" for your board in PlatformIO
+Remember to also choose the "environment" for your microcontroller in PlatformIO
 */
 #define RCM_HARDWARE_VERSION RCM_ORIGINAL // versions 1, 2, 3, and 3.1 of the original RCM hardware // https://github.com/RCMgames/RCM_hardware_documentation_and_user_guide
 // #define RCM_HARDWARE_VERSION RCM_4_V1 // version 1 of the RCM 4 // https://github.com/RCMgames/RCM-Hardware-V4
@@ -89,7 +89,7 @@ void configWifi()
 void ROSWifiSettings()
 {
     // SSID, password, IP, port (on a computer run: sudo docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888 )
-    set_microros_wifi_transports("router", "password", "10.25.21.1", 8888);
+    set_microros_wifi_transports("router", "password", "10.25.21.1", 8888); // doesn't complete until it connects to the wifi network
     nodeName = "rcm_robot";
     // numSubscribers = 10; //change max number of subscribers
 }

diff --git a/RCMv2/rcmros.h b/RCMv2/rcmros.h
@@ -10,9 +10,18 @@ rcl_node_t node;
 
 void error_loop()
 {
+    // error in ROS communication
     while (1) {
+#if (RCM_HARDWARE_VERSION == RCM_BYTE_V2 || RCM_HARDWARE_VERSION == RCM_NIBBLE_V1)
+        // bytes and nibbles have QT PYs with neopixel built in leds
+        delay(50);
+        setRSL(RSLcolor);
+        delay(50);
+        setRSL(CRGB(0, 0, 0));
+#else
         digitalWrite(ONBOARD_LED, !digitalRead(ONBOARD_LED));
         delay(50);
+#endif
     }
 }