Sense & publish VL6180x data

2022-11-18 14:42:02 +01:00
parent c71d52a339
commit 9cec3672cf
3 changed files with 30 additions and 14 deletions
--- a/include/rideheight_sensing/rideheight_sensing.h
+++ b/include/rideheight_sensing/rideheight_sensing.h
@ -2,6 +2,8 @@

 #include <ros/ros.h>

+#include "vl6180x_platform.h"
+
 namespace rh_sensing
 {
 class RideheightSensing
@ -17,6 +19,9 @@ private:

  ros::Publisher vl6180x_pub;
  ros::Publisher vl53l0x_pub;
+
+  VL6180xDev_t vl6180x_dev;
+  VL6180x_RangeData_t vl6180x_range;
 };

 }  // namespace rh_sensing
--- a/include/vl6180x_glue.h
+++ b/include/vl6180x_glue.h
@ -1,3 +1,5 @@
 #pragma once

 #define VL6180X_I2C_ADDR 0x29
+
+void VL6180x_glue_init(const char* i2c_dev_path);