Cleanup examples

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>

examples/battery_level.cpp

@@ -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;
@@ -58,17 +58,15 @@ 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;
 
   // Get battery capacity (max charge)
-  const float battery_capacity = robot->getBatteryCapacity();
+  const float battery_capacity = robot.getBatteryCapacity();
 
   float battery_charge = 0.0f;
-  while (!robot->isCleanButtonPressed()) {
+  while (true) {
     // Get battery charge
-    battery_charge = robot->getBatteryCharge();
+    battery_charge = robot.getBatteryCharge();
 
     // Print battery percentage
     std::cout << "\rBattery level: " << (battery_charge / battery_capacity) * 100.0 << "%";
@@ -76,14 +74,5 @@ 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;
 }

examples/bumpers.cpp

@@ -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);
+  robot.setMode(create::MODE_FULL);
-
-  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
 
   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[0] = robot.getLightSignalLeft();
-      light_signals[1] = robot->getLightSignalFrontLeft();
+      light_signals[1] = robot.getLightSignalFrontLeft();
-      light_signals[2] = robot->getLightSignalCenterLeft();
+      light_signals[2] = robot.getLightSignalCenterLeft();
-      light_signals[3] = robot->getLightSignalCenterRight();
+      light_signals[3] = robot.getLightSignalCenterRight();
-      light_signals[4] = robot->getLightSignalFrontRight();
+      light_signals[4] = robot.getLightSignalFrontRight();
-      light_signals[5] = robot->getLightSignalRight();
+      light_signals[5] = robot.getLightSignalRight();
 
       // Get obstacle data from light sensors (true/false)
-      light_bumpers[0] = robot->isLightBumperLeft();
+      light_bumpers[0] = robot.isLightBumperLeft();
-      light_bumpers[1] = robot->isLightBumperFrontLeft();
+      light_bumpers[1] = robot.isLightBumperFrontLeft();
-      light_bumpers[2] = robot->isLightBumperCenterLeft();
+      light_bumpers[2] = robot.isLightBumperCenterLeft();
-      light_bumpers[3] = robot->isLightBumperCenterRight();
+      light_bumpers[3] = robot.isLightBumperCenterRight();
-      light_bumpers[4] = robot->isLightBumperFrontRight();
+      light_bumpers[4] = robot.isLightBumperFrontRight();
-      light_bumpers[5] = robot->isLightBumperRight();
+      light_bumpers[5] = robot.isLightBumperRight();
     }
 
     // Get state of bumpers
-    contact_bumpers[0] = robot->isLeftBumper();
+    contact_bumpers[0] = robot.isLeftBumper();
-    contact_bumpers[1] = robot->isRightBumper();
+    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;
 }

examples/cliffs.cpp

@@ -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 (true) {
-
-  while (!robot->isCleanButtonPressed()) {
     // Get cliff status
-    const bool cliff_left = robot->isCliffLeft();
+    const bool cliff_left = robot.isCliffLeft();
-    const bool cliff_front_left = robot->isCliffFrontLeft();
+    const bool cliff_front_left = robot.isCliffFrontLeft();
-    const bool cliff_front_right = robot->isCliffFrontRight();
+    const bool cliff_front_right = robot.isCliffFrontRight();
-    const bool cliff_right = robot->isCliffRight();
+    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;
 }

examples/drive_circle.cpp

@@ -48,10 +48,10 @@ 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;
@@ -59,19 +59,17 @@ 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;
 
   // There's a delay between switching modes and when the robot will accept drive commands
   usleep(100000);
 
   // Command robot to drive a radius of 0.15 metres at 0.2 m/s
-  robot->driveRadius(0.2, 0.15);
+  robot.driveRadius(0.2, 0.15);
 
-  while (!robot->isCleanButtonPressed()) {
+  while (true) {
     // Get robot odometry and print
-    const create::Pose pose = robot->getPose(); 
+    const create::Pose pose = robot.getPose();
 
     std::cout << std::fixed << std::setprecision(2) << "\rOdometry (x, y, yaw): ("
               << pose.x << ", " << pose.y << ", " << pose.yaw << ")      ";
@@ -79,15 +77,5 @@ int main(int argc, char** argv) {
     usleep(10000);  // 10 Hz
   }
 
-  std::cout << std::endl;
-
-  // Call disconnect to avoid leaving robot in Full mode
-  // Also, this consequently stops the robot from moving
-  robot->disconnect();
-
-  // Clean up
-  delete robot;
-
-  std::cout << "Bye!" << std::endl;
   return 0;
 }

examples/leds.cpp

@@ -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;
@@ -58,9 +58,7 @@ 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;
 
   bool enable_check_robot_led = true;
   bool enable_debris_led = false;
@@ -69,18 +67,18 @@ int main(int argc, char** argv) {
   uint8_t power_led = 0;
   char digit_buffer[5];
 
-  while (!robot->isCleanButtonPressed()) {
+  while (true) {
     // Set LEDs
-    robot->enableCheckRobotLED(enable_check_robot_led);
+    robot.enableCheckRobotLED(enable_check_robot_led);
-    robot->enableDebrisLED(enable_debris_led);
+    robot.enableDebrisLED(enable_debris_led);
-    robot->enableDockLED(enable_dock_led);
+    robot.enableDockLED(enable_dock_led);
-    robot->enableSpotLED(enable_spot_led);
+    robot.enableSpotLED(enable_spot_led);
-    robot->setPowerLED(power_led);
+    robot.setPowerLED(power_led);
 
     // Set 7-segment displays
     const int len = sprintf(digit_buffer, "%d", power_led);
     for (int i = len; i < 4; i++) digit_buffer[i] = ' ';
-    robot->setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
+    robot.setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
 
     // Update LED values
     enable_check_robot_led = !enable_check_robot_led;
@@ -92,14 +90,5 @@ int main(int argc, char** argv) {
     usleep(250000);  // 5 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;
 }

examples/packets.cpp

@@ -47,25 +47,20 @@ 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;
     return 1;
   }
 
-  // Switch to Full mode
+  while (true) {
-  // robot->setMode(create::MODE_FULL);
-
-  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
-
-  while (!robot->isCleanButtonPressed()) {
     // Get serial packet statistics
-    const uint64_t total_packets = robot->getTotalPackets();
+    const uint64_t total_packets = robot.getTotalPackets();
-    const uint64_t num_corrupt_packets = robot->getNumCorruptPackets();
+    const uint64_t num_corrupt_packets = robot.getNumCorruptPackets();
 
     // Print packet stats 
     std::cout << "\rTotal packets: " << total_packets << "  Corrupt packets: " << num_corrupt_packets;
@@ -73,14 +68,5 @@ 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;
 }

examples/play_song.cpp

@@ -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;
@@ -58,7 +58,7 @@ int main(int argc, char** argv) {
   }
 
   // Switch to Full mode
-  robot->setMode(create::MODE_FULL);
+  robot.setMode(create::MODE_FULL);
 
   // Useful note defintions
   const uint8_t G = 55;
@@ -73,7 +73,7 @@ int main(int argc, char** argv) {
   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);
+  robot.defineSong(0, song_len, notes, durations);
 
   // Sleep to provide time for song to register
   usleep(1000000);
@@ -81,17 +81,13 @@ int main(int argc, char** argv) {
   std::cout << "Playing a song!" << std::endl;
 
   // Request to play the song we just defined
-  robot->playSong(0); 
+  robot.playSong(0);
 
   // Expect the song to take about four seconds
   usleep(4500000);
 
   // Call disconnect to avoid leaving robot in Full mode
-  robot->disconnect();
+  robot.disconnect();
 
-  // Clean up
-  delete robot;
-
-  std::cout << "Bye!" << std::endl;
   return 0;
 }

examples/wheeldrop.cpp

@@ -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;
@@ -58,14 +58,12 @@ 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 (true) {
-
-  while (!robot->isCleanButtonPressed()) {
     // Get wheeldrop status
-    const bool wheeldrop_left = robot->isLeftWheeldrop();
+    const bool wheeldrop_left = robot.isLeftWheeldrop();
-    const bool wheeldrop_right = robot->isRightWheeldrop();
+    const bool wheeldrop_right = robot.isRightWheeldrop();
 
     // Print status
     std::cout << "\rWheeldrop status (left and right): [ " <<
@@ -76,21 +74,12 @@ int main(int argc, char** argv) {
 
     // If dropped, then make light red
     if (wheeldrop_left || wheeldrop_right)
-      robot->setPowerLED(255);  // Red
+      robot.setPowerLED(255);  // Red
     else
-      robot->setPowerLED(0);  // Green
+      robot.setPowerLED(0);  // Green
 
     usleep(10000);  // 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;
 }