85 lines
3 KiB
C++
85 lines
3 KiB
C++
/**
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Software License Agreement (BSD)
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\file wheeldrop.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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while (true) {
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// Get wheeldrop status
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const bool wheeldrop_left = robot.isLeftWheeldrop();
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const bool wheeldrop_right = robot.isRightWheeldrop();
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// Print status
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std::cout << "\rWheeldrop status (left and right): [ " <<
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wheeldrop_left <<
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", " <<
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wheeldrop_right <<
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" ]";
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// If dropped, then make light red
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if (wheeldrop_left || wheeldrop_right)
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robot.setPowerLED(255); // Red
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else
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robot.setPowerLED(0); // Green
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usleep(10000); // 10 Hz
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}
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return 0;
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}
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