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--- eeros_architecture:hal:config_ros [2017/12/14 18:34] – [How to Use the] graf
+++ eeros_architecture:hal:config_ros [2017/12/14 18:35] – [How to Use the] graf
@@ Line 52: / Line 52: @@
 You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]].
-===== How to Use the  =====
-You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}:
-<code cpp>
-	PeripheralInput<double>		analogIn0;
-	PeripheralInput<bool>		digitalIn0;
-	PeripheralOutput<double>	analogOut0;
-	PeripheralOutput<bool>		digitalOut0;
-</code>
-Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file
-<code cpp>
-class MyControlSystem {
-public:
-	MyControlSystem(double ts, ros::NodeHandle& rosNodeHandler):
-		dt(ts),
-		...
-		analogIn0("scanTimeIn0"),		// argument has to match signalId of json
-		digitalIn0("batteryPresent0"),
-		analogOut0("scanTimeEchoOut0"),
-		digitalOut0("batteryPresentEchoOut0"),
-		...
-}
-</code>