Update examples

More concise and focusing on individual features: * Battery level * Bumpers * Drive circle * LEDs * Serial packets * Play song * Wheeldrop
2018-03-24 18:08:14 -07:00 · 2018-03-24 18:08:14 -07:00 · 14da9aed9a
commit 14da9aed9a
parent 771e350305
11 changed files with 704 additions and 286 deletions
--- a/examples/play_song.cpp
+++ b/examples/play_song.cpp
@ -0,0 +1,97 @@
+/**
+Software License Agreement (BSD)
+
+\file      play_song.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  // Useful note defintions
+  const uint8_t G = 55;
+  const uint8_t AS = 58;
+  const uint8_t DS = 51;
+  const float half = 1.0f;
+  const float quarter = 0.5f;
+  const float dotted_eigth = 0.375f; 
+  const float sixteenth = 0.125f;
+
+  // Define a song
+  const uint8_t song_len = 9;
+  const uint8_t notes[song_len] = { G, G, G, DS, AS, G, DS, AS, G };
+  const float durations[song_len] = { quarter, quarter, quarter, dotted_eigth, sixteenth, quarter, dotted_eigth, sixteenth, half };
+  robot->defineSong(0, song_len, notes, durations);
+
+  // Sleep to provide time for song to register
+  usleep(1000000);
+
+  std::cout << "Playing a song!" << std::endl;
+
+  // Request to play the song we just defined
+  robot->playSong(0); 
+
+  // Expect the song to take about four seconds
+  usleep(4500000);
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}