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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33
examples/leds.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;
@ -58,29 +58,27 @@ 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);
bool enable_check_robot_led = true;
bool enable_debris_led = false;
bool enable_dock_led = true;
bool enable_spot_led = false;
uint8_t power_led = 0;
uint8_t power_led = 0;
char digit_buffer[5];
while (!robot->isCleanButtonPressed()) {
while (true) {
// Set LEDs
robot->enableCheckRobotLED(enable_check_robot_led);
robot->enableDebrisLED(enable_debris_led);
robot->enableDockLED(enable_dock_led);
robot->enableSpotLED(enable_spot_led);
robot->setPowerLED(power_led);
robot.enableCheckRobotLED(enable_check_robot_led);
robot.enableDebrisLED(enable_debris_led);
robot.enableDockLED(enable_dock_led);
robot.enableSpotLED(enable_spot_led);
robot.setPowerLED(power_led);
// Set 7-segment displays
const int len = sprintf(digit_buffer, "%d", power_led);
for (int i = len; i < 4; i++) digit_buffer[i] = ' ';
robot->setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
robot.setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
// Update LED values
enable_check_robot_led = !enable_check_robot_led;
@ -92,14 +90,5 @@ int main(int argc, char** argv) {
usleep(250000); // 5 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;
}