Update examples

More concise and focusing on individual features: * Battery level * Bumpers * Drive circle * LEDs * Serial packets * Play song * Wheeldrop
2018-03-24 18:08:14 -07:00 · 2018-03-24 18:08:14 -07:00 · 14da9aed9a
commit 14da9aed9a
parent 771e350305
11 changed files with 704 additions and 286 deletions
--- a/examples/drive_circle.cpp
+++ b/examples/drive_circle.cpp
@ -0,0 +1,93 @@
+/**
+Software License Agreement (BSD)
+
+\file      drive_circle.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iomanip>
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  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
+  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);
+
+  while (!robot->isCleanButtonPressed()) {
+    // Get robot odometry and print
+    const create::Pose pose = robot->getPose(); 
+
+    std::cout << std::fixed << std::setprecision(2) << "\rOdometry (x, y, yaw): ("
+              << pose.x << ", " << pose.y << ", " << pose.yaw << ")      ";
+
+    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;
+}