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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24
examples/drive_circle.cpp
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@ -48,10 +48,10 @@ 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;
@ -59,19 +59,17 @@ 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);
// 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);
robot.driveRadius(0.2, 0.15);
while (!robot->isCleanButtonPressed()) {
while (true) {
// Get robot odometry and print
const create::Pose pose = robot->getPose();
const create::Pose pose = robot.getPose();
std::cout << std::fixed << std::setprecision(2) << "\rOdometry (x, y, yaw): ("
<< pose.x << ", " << pose.y << ", " << pose.yaw << ") ";
@ -79,15 +77,5 @@ int main(int argc, char** argv) {
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;
}