sync turtlebot3_core

ROBOTIS-GIT · May 25, 2018 · 9bb2c68 · 9bb2c68
1 parent d008b6f
commit 9bb2c68
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/...nipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino b/...nipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino
@@ -282,6 +282,15 @@ void publishSensorStateMsg(void)
   else
     return;
 
+  sensor_state_msg.bumper = sensors.checkPushBumper();
+
+  sensor_state_msg.cliff = sensors.getIRsensorData();
+
+  // TODO
+  // sensor_state_msg.sonar = sensors.getSonarData();
+
+  sensor_state_msg.illumination = sensors.getIlluminationData();
+
   sensor_state_msg.button = sensors.checkPushButton();
 
   sensor_state_msg.torque = motor_driver.getTorque();
@@ -761,7 +770,7 @@ void sendDebuglog(void)
   DEBUG_SERIAL.println("---------------------------------------");
   DEBUG_SERIAL.println("EXTERNAL SENSORS");
   DEBUG_SERIAL.println("---------------------------------------");
-  DEBUG_SERIAL.print("Bumper : "); DEBUG_SERIAL.println(sensors.getPushedBumper());
+  DEBUG_SERIAL.print("Bumper : "); DEBUG_SERIAL.println(sensors.checkPushBumper());
   DEBUG_SERIAL.print("Cliff : "); DEBUG_SERIAL.println(sensors.getIRsensorData());
   DEBUG_SERIAL.print("Sonar : "); DEBUG_SERIAL.println(sensors.getSonarData());
   DEBUG_SERIAL.print("Illumination : "); DEBUG_SERIAL.println(sensors.getIlluminationData());

diff --git a/...ator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core_config.h b/...ator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core_config.h
@@ -46,14 +46,14 @@
 
 #define HARDWARE_VER "1.0.0"
 #define SOFTWARE_VER "1.0.0"
-#define FIRMWARE_VER "1.0.1"
+#define FIRMWARE_VER "1.2.0"
 
 #define CONTROL_MOTOR_SPEED_FREQUENCY          30   //hz
 #define IMU_PUBLISH_FREQUENCY                  200  //hz
 #define CMD_VEL_PUBLISH_FREQUENCY              30   //hz
 #define DRIVE_INFORMATION_PUBLISH_FREQUENCY    30   //hz
 #define VERSION_INFORMATION_PUBLISH_FREQUENCY  1    //hz 
-#define DEBUG_LOG_FREQUENCY                    2   //hz 
+#define DEBUG_LOG_FREQUENCY                    10   //hz 
 
 #define WHEEL_NUM                        2