115 lines
4.5 KiB
C++
115 lines
4.5 KiB
C++
/**
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Software License Agreement (BSD)
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\file bumpers.cpp
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "create/create.h"
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#include <iostream>
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int main(int argc, char** argv) {
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// Select robot. Assume Create 2 unless argument says otherwise
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create::RobotModel model = create::RobotModel::CREATE_2;
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std::string port = "/dev/ttyUSB0";
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int baud = 115200;
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if (argc > 1 && std::string(argv[1]) == "create1") {
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model = create::RobotModel::CREATE_1;
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baud = 57600;
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std::cout << "Running driver for Create 1" << std::endl;
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}
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else {
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std::cout << "Running driver for Create 2" << std::endl;
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}
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// Construct robot object
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create::Create robot(model);
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// Connect to robot
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if (robot.connect(port, baud))
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std::cout << "Connected to robot" << std::endl;
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else {
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std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
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return 1;
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}
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// Switch to Full mode
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robot.setMode(create::MODE_FULL);
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uint16_t light_signals[6] = {0, 0, 0, 0, 0, 0};
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bool light_bumpers[6] = {false, false, false, false, false, false};
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bool contact_bumpers[2] = {false, false};
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while (true) {
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// Get light sensor data (only available for Create 2 or later robots)
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if (model == create::RobotModel::CREATE_2) {
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// Get raw light signal values
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light_signals[0] = robot.getLightSignalLeft();
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light_signals[1] = robot.getLightSignalFrontLeft();
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light_signals[2] = robot.getLightSignalCenterLeft();
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light_signals[3] = robot.getLightSignalCenterRight();
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light_signals[4] = robot.getLightSignalFrontRight();
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light_signals[5] = robot.getLightSignalRight();
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// Get obstacle data from light sensors (true/false)
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light_bumpers[0] = robot.isLightBumperLeft();
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light_bumpers[1] = robot.isLightBumperFrontLeft();
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light_bumpers[2] = robot.isLightBumperCenterLeft();
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light_bumpers[3] = robot.isLightBumperCenterRight();
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light_bumpers[4] = robot.isLightBumperFrontRight();
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light_bumpers[5] = robot.isLightBumperRight();
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}
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// Get state of bumpers
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contact_bumpers[0] = robot.isLeftBumper();
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contact_bumpers[1] = robot.isRightBumper();
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// Print signals from left to right
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std::cout << "[ " << light_signals[0] << " , "
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<< light_signals[1] << " , "
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<< light_signals[2] << " , "
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<< light_signals[3] << " , "
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<< light_signals[4] << " , "
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<< light_signals[5]
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<< " ]" << std::endl;
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std::cout << "[ " << light_bumpers[0] << " , "
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<< light_bumpers[1] << " , "
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<< light_bumpers[2] << " , "
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<< light_bumpers[3] << " , "
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<< light_bumpers[4] << " , "
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<< light_bumpers[5]
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<< " ]" << std::endl;
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std::cout << "[ " << contact_bumpers[0] << " , "
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<< contact_bumpers[1]
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<< " ]" << std::endl;
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std::cout << std::endl;
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usleep(100000); // 10 Hz
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}
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return 0;
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}
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