73 lines
2.4 KiB
C++
73 lines
2.4 KiB
C++
#include "create/create.h"
|
|
|
|
int main(int argc, char** argv) {
|
|
std::string port = "/dev/ttyUSB0";
|
|
int baud = 115200;
|
|
create::RobotModel model = create::RobotModel::CREATE_2;
|
|
|
|
create::Create* robot = new create::Create(model);
|
|
|
|
// Attempt to connect to Create
|
|
if (robot->connect(port, baud))
|
|
std::cout << "Successfully connected to Create" << std::endl;
|
|
else {
|
|
std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
|
|
return 1;
|
|
}
|
|
|
|
robot->setMode(create::MODE_FULL);
|
|
|
|
uint16_t signals[6];
|
|
bool contact_bumpers[2];
|
|
bool light_bumpers[6];
|
|
|
|
// Stop program when clean button is pressed
|
|
while (!robot->isCleanButtonPressed()) {
|
|
signals[0] = robot->getLightSignalLeft();
|
|
signals[1] = robot->getLightSignalFrontLeft();
|
|
signals[2] = robot->getLightSignalCenterLeft();
|
|
signals[3] = robot->getLightSignalCenterRight();
|
|
signals[4] = robot->getLightSignalFrontRight();
|
|
signals[5] = robot->getLightSignalRight();
|
|
|
|
contact_bumpers[0] = robot->isLeftBumper();
|
|
contact_bumpers[1] = robot->isRightBumper();
|
|
|
|
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();
|
|
|
|
// print signals from left to right
|
|
std::cout << "[ " << signals[0] << " , "
|
|
<< signals[1] << " , "
|
|
<< signals[2] << " , "
|
|
<< signals[3] << " , "
|
|
<< signals[4] << " , "
|
|
<< signals[5]
|
|
<< " ]" << std::endl;
|
|
std::cout << "[ " << light_bumpers[0] << " , "
|
|
<< light_bumpers[1] << " , "
|
|
<< light_bumpers[2] << " , "
|
|
<< light_bumpers[3] << " , "
|
|
<< light_bumpers[4] << " , "
|
|
<< light_bumpers[5]
|
|
<< " ]" << std::endl;
|
|
std::cout << "[ " << contact_bumpers[0] << " , "
|
|
<< contact_bumpers[1]
|
|
<< " ]" << std::endl;
|
|
std::cout << std::endl;
|
|
|
|
usleep(1000 * 100); //10hz
|
|
}
|
|
|
|
std::cout << "Stopping Create" << std::endl;
|
|
|
|
// Disconnect from robot
|
|
robot->disconnect();
|
|
delete robot;
|
|
|
|
return 0;
|
|
}
|