compAIR/libcreate
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Cleanup examples

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-09-02 12:26:09 -07:00 • committed by Jacob Perron
parent eaeea24a21
commit dff0308b1b
8 changed files with 69 additions and 153 deletions
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47
examples/bumpers.cpp
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@ -47,10 +47,10 @@ int main(int argc, char** argv) {
}
// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);
// Connect to robot
if (robot->connect(port, baud))
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;
@ -58,37 +58,35 @@ int main(int argc, char** argv) {
}
// Switch to Full mode
robot->setMode(create::MODE_FULL);
std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);
uint16_t light_signals[6];
bool light_bumpers[6];
bool contact_bumpers[2];
while (!robot->isCleanButtonPressed()) {
while (true) {
// Get light sensor data (only available for Create 2 or later robots)
if (model == create::RobotModel::CREATE_2) {
// Get raw light signal values
light_signals[0] = robot->getLightSignalLeft();
light_signals[1] = robot->getLightSignalFrontLeft();
light_signals[2] = robot->getLightSignalCenterLeft();
light_signals[3] = robot->getLightSignalCenterRight();
light_signals[4] = robot->getLightSignalFrontRight();
light_signals[5] = robot->getLightSignalRight();
light_signals[0] = robot.getLightSignalLeft();
light_signals[1] = robot.getLightSignalFrontLeft();
light_signals[2] = robot.getLightSignalCenterLeft();
light_signals[3] = robot.getLightSignalCenterRight();
light_signals[4] = robot.getLightSignalFrontRight();
light_signals[5] = robot.getLightSignalRight();
// Get obstacle data from light sensors (true/false)
light_bumpers[0] = robot->isLightBumperLeft();
light_bumpers[1] = robot->isLightBumperFrontLeft();
light_bumpers[2] = robot->isLightBumperCenterLeft();
light_bumpers[3] = robot->isLightBumperCenterRight();
light_bumpers[4] = robot->isLightBumperFrontRight();
light_bumpers[5] = robot->isLightBumperRight();
light_bumpers[0] = robot.isLightBumperLeft();
light_bumpers[1] = robot.isLightBumperFrontLeft();
light_bumpers[2] = robot.isLightBumperCenterLeft();
light_bumpers[3] = robot.isLightBumperCenterRight();
light_bumpers[4] = robot.isLightBumperFrontRight();
light_bumpers[5] = robot.isLightBumperRight();
}
// Get state of bumpers
contact_bumpers[0] = robot->isLeftBumper();
contact_bumpers[1] = robot->isRightBumper();
contact_bumpers[0] = robot.isLeftBumper();
contact_bumpers[1] = robot.isRightBumper();
// Print signals from left to right
std::cout << "[ " << light_signals[0] << " , "
@ -113,14 +111,5 @@ int main(int argc, char** argv) {
usleep(100000); // 10 Hz
}
std::cout << std::endl;
// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();
// Clean up
delete robot;
std::cout << "Bye!" << std::endl;
return 0;
}