Initial commit.

2015-12-11 14:08:34 -08:00 · 2015-12-11 14:08:34 -08:00 · 43c7b95361
commit 43c7b95361
14 changed files with 1919 additions and 0 deletions
--- a/examples/create_demo.cpp
+++ b/examples/create_demo.cpp
@ -0,0 +1,125 @@
+#include "create/create.h"
+
+create::Create* robot;
+
+int main(int argc, char** argv) {
+  std::string port = "/dev/ttyUSB0";
+
+  robot = new create::Create();
+
+  // Attempt to connect to Create
+  if (robot->connect(port, 115200))
+    std::cout << "Successfully connected to Create" << std::endl;
+  else {
+    std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Note: Some functionality does not work as expected in Safe mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << "battery level: " <<
+    robot->getBatteryCharge() / (float) robot->getBatteryCapacity() * 100.0 << "%" << std::endl;
+  
+  bool drive = false;
+
+  // Make a song
+  //uint8_t songLength = 16;
+  //uint8_t notes[16] = { 67, 67, 66, 66, 65, 65, 66, 66,
+  //                      67, 67, 66, 66, 65, 65, 66, 66 };
+  //float durations[songLength];
+  //for (int i = 0; i < songLength; i++) {
+  //  durations[i] = 0.25;   
+  //} 
+  //robot->createSong(0, songLength, notes, durations);
+  //usleep(1000000);
+  //robot->playSong(0);
+
+  // Quit when center "Clean" button pressed
+  while (!robot->isCleanButtonPressed()) {
+    // Check for button presses
+    if (robot->isDayButtonPressed()) 
+      std::cout << "day button press" << std::endl;
+    if (robot->isMinButtonPressed()) 
+      std::cout << "min button press" << std::endl;
+    if (robot->isDockButtonPressed()) {
+      std::cout << "dock button press" << std::endl;
+      robot->enableCheckRobotLED(false);
+    }
+    if (robot->isSpotButtonPressed()) {
+      std::cout << "spot button press" << std::endl;
+      robot->enableCheckRobotLED(true);
+    }
+    if (robot->isHourButtonPressed()) {
+      std::cout << "hour button press" << std::endl;
+      drive = !drive;
+    }
+
+    // Check for wheeldrop or cliffs
+    if (robot->isWheeldrop() || robot->isCliff()) {
+      drive = false;
+      robot->setPowerLED(255);
+    }
+
+    // If everything is ok, drive forward using IR's to avoid obstacles
+    if (drive) {
+      robot->setPowerLED(0); // green
+      if (robot->isIRDetectLeft() || 
+          robot->isIRDetectFrontLeft() ||
+          robot->isIRDetectCenterLeft()) {
+        // turn right
+        robot->drive(0.1, -1.0);
+        robot->setDigitsASCII('-','-','-',']');
+      }
+      else if (robot->isIRDetectRight() ||
+               robot->isIRDetectFrontRight() ||
+               robot->isIRDetectCenterRight()) {
+        // turn left
+        robot->drive(0.1, 1.0);
+        robot->setDigitsASCII('[','-','-','-');
+      }
+      else {
+        // drive straight
+        robot->drive(0.1, 0.0);
+        robot->setDigitsASCII(' ','^','^',' ');
+      }
+    }
+    else { // drive == false
+      // stop moving
+      robot->drive(0, 0);
+      robot->setDigitsASCII('S','T','O','P');
+    }
+
+    // Turn on blue 'debris' light if moving forward
+    if (robot->isMovingForward()) {
+      robot->enableDebrisLED(true);
+    }
+    else {
+      robot->enableDebrisLED(false);
+    }
+    
+    // Check bumpers
+    if (robot->isLeftBumper()) {
+      std::cout << "left bump detected!" << std::endl;
+    }
+    if (robot->isRightBumper()) {
+      std::cout << "right bump detected!" << std::endl;
+    }
+
+    usleep(1000 * 100); //10hz
+  }
+
+  std::cout << "Stopping Create." << std::endl;
+ 
+  // Turn off lights 
+  robot->setPowerLED(0, 0);
+  robot->enableDebrisLED(false);
+  robot->enableCheckRobotLED(false);
+  robot->setDigitsASCII(' ', ' ', ' ', ' ');
+  
+  // Make sure to disconnect to clean up
+  robot->disconnect();
+  delete robot;
+
+  return 0;
+}