jakob.kampichler/libcreate
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Cleanup examples

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-09-02 12:26:09 -07:00 • committed by Jacob Perron
parent eaeea24a21
commit dff0308b1b
8 changed files with 69 additions and 153 deletions
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23
examples/battery_level.cpp
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@ -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);
std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);
// 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;
}