readme

Author: gbr1

README.md

@@ -1,48 +1,30 @@
 # upboard_ros
 **This package is compatible with [UpBoard](https://up-board.org/up/specifications/), [UpSquared](https://up-board.org/upsquared/specifications/) and [UpXtreme](https://up-board.org/up-xtreme/)**<br>
-It is part of [Erwhi Hedgehog](https://gbr1.github.io/erwhi_hedgehog.html) development.
+It is part of [Erwhi Hedgehog](https://gbr1.github.io/erwhi_hedgehog.html) development.<br>
+It is based on [mraa libraries](https://github.com/intel-iot-devkit/mraa).
 
 ---
-## 1. Setup
-```
-cd ~/catkin_ws/src
-git clone https://github.com/gbr1/upboard_ros.git
-cd ..
-catkin_make
-catkin_make install
-```
-## 2. Test
-Leds animations:<br>
-`roslauch upboard_ros led_test.launch`<br>
-<br>
-Manual test:
-1. Open a terminal:<br>
-`roscore`
-2. In a new terminal:<br>
-`rosrun upboard_ros led_node`<br>
-3. In a new terminal:<br>
-to turn on blue led:<br>
-`rostopic pub /upboard/leds upboard_ros/Leds "{header: auto, leds:[{led: 1, value: 1}]}" --once `<br>
-to turn off blue led:<br>
-`rostopic pub /upboard/leds upboard_ros/Leds "{header: auto, leds:[{led: 1, value: 0}]}" --once `<br>
-## 3. Nodes
-3.1 ***led_node***, allows you to connect to upboard leds
-- **Subcribed**:
-    - ***/upboard/leds***<br>
-        Header header<br>
-        Led[] leds<br>
-        _Led:_<br>
-        _uint8 led, you can use also constants ALL=0, BLUE=1, YELLOW=2, GREEN=3, RED=4_<br>
-        _bool value, true or 1 is on and false or 0 is off_
-
-3.2 ***led_test***, allows you to test upboard leds
-- **Published**:
-    - ***/upboard/leds***<br>
+
+## Functionalities
+
+### on-board leds
+You can use ROS topic to control onboard leds<br>
+![https://www.youtube.com/watch?v=SyPCCiDiLIw](https://user-images.githubusercontent.com/9216366/56963016-390da380-6b58-11e9-99fb-32cefb355f6b.gif)<br><br>
+
+### GPIOs
+You can use ROS topic to control GPIO as Digital Output and Digital Input<br>
+![https://www.youtube.com/watch?v=aepSXab6H2M](https://user-images.githubusercontent.com/9216366/56962507-06af7680-6b57-11e9-85b3-15c1774bee03.gif)<br><br>
 
 
+## How to
+Check featured [wiki](https://github.com/gbr1/upboard_ros/wiki) to learn more.
 
 ## 4. Future
-Idea is to add also GPIO and other useful data from Upboard.
+Needs to be implemented:
+- PWM in GPIO node
+- I2C node
+- UART node
+- SPI node
 <br>
 <br>
 

src/gpio_test.cpp

@@ -25,7 +25,7 @@ void gpioCallback(const upboard_ros::ListGpio & msg){
     while((!found) && (k<msg.gpio.size())){
         if (msg.gpio[k].pin==BUTTON){
             found=true;
-            if (msg.gpio[k].value!=0){
+            if (msg.gpio[k].value==0){
                 blinkrate=FAST;
             } 
             else{