def __init__(self, bs=(3, 5)):
pub = rospy.Publisher("input", Input, queue_size=10)
rospy.init_node("input_driver", anonymous=True)
GPIO.setmode(GPIO.BOARD)
for b in bs:
GPIO.setup(b, GPIO.IN)
rate = rospy.Rate(5) # 10hz
while not rospy.is_shutdown():
msg = Input()
msg.input1 = GPIO.input(bs[0])
msg.input2 = GPIO.input(bs[1])
pub.publish(msg)
rate.sleep()
def pub_inputs(self):
msg = Input()
msg.input1 = GPIO.input(self.inputs[0])
msg.input2 = GPIO.input(self.inputs[1])
self.pub_input.publish(msg)