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/packets.cpp
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@ -47,25 +47,20 @@ 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;
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;
while (!robot->isCleanButtonPressed()) {
while (true) {
// Get serial packet statistics
const uint64_t total_packets = robot->getTotalPackets();
const uint64_t num_corrupt_packets = robot->getNumCorruptPackets();
const uint64_t total_packets = robot.getTotalPackets();
const uint64_t num_corrupt_packets = robot.getNumCorruptPackets();
// Print packet stats
std::cout << "\rTotal packets: " << total_packets << " Corrupt packets: " << num_corrupt_packets;
@ -73,14 +68,5 @@ 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;
}