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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26
examples/cliffs.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 {
@ -59,16 +59,14 @@ int main(int argc, char** argv) {
}
// Switch to Full mode
robot->setMode(create::MODE_FULL);
robot.setMode(create::MODE_FULL);
std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
while (!robot->isCleanButtonPressed()) {
while (true) {
// Get cliff status
const bool cliff_left = robot->isCliffLeft();
const bool cliff_front_left = robot->isCliffFrontLeft();
const bool cliff_front_right = robot->isCliffFrontRight();
const bool cliff_right = robot->isCliffRight();
const bool cliff_left = robot.isCliffLeft();
const bool cliff_front_left = robot.isCliffFrontLeft();
const bool cliff_front_right = robot.isCliffFrontRight();
const bool cliff_right = robot.isCliffRight();
// Print status
std::cout << "\rCliffs (left to right): [ " <<
@ -84,13 +82,5 @@ int main(int argc, char** argv) {
usleep(10000); // 10 Hz
}
std::cout << std::endl;
// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();
// Clean up
delete robot;
return 0;
}