servo.cpp

servo.cpp

#include <ros/ros.h>
#include <pigpiod_if2.h>

#include <std_msgs/Bool.h>


int main(int argc, char** argv){
  ros::init(argc, argv, "servo");
  
  ros::NodeHandle n;

  int pi;
  pi = pigpio_start(NULL,NULL);

  int i = 0;

  ros::Rate rate(1);
  set_servo_pulsewidth(pi,26,1500);
  while(ros::ok()){
	
	if(i == 0){
      set_servo_pulsewidth(pi,26,1400);
	  i = 1;
	}else{
	  set_servo_pulsewidth(pi,26,1600);
	  i = 0;
	}
	ROS_INFO("%d",i);
	ros::spinOnce();
	rate.sleep();
  }
  set_servo_pulsewidth(pi,26,0);
  return 0;
}
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