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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18
examples/play_song.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;
@ -58,7 +58,7 @@ int main(int argc, char** argv) {
}
// Switch to Full mode
robot->setMode(create::MODE_FULL);
robot.setMode(create::MODE_FULL);
// Useful note defintions
const uint8_t G = 55;
@ -66,14 +66,14 @@ int main(int argc, char** argv) {
const uint8_t DS = 51;
const float half = 1.0f;
const float quarter = 0.5f;
const float dotted_eigth = 0.375f;
const float dotted_eigth = 0.375f;
const float sixteenth = 0.125f;
// Define a song
const uint8_t song_len = 9;
const uint8_t notes[song_len] = { G, G, G, DS, AS, G, DS, AS, G };
const float durations[song_len] = { quarter, quarter, quarter, dotted_eigth, sixteenth, quarter, dotted_eigth, sixteenth, half };
robot->defineSong(0, song_len, notes, durations);
robot.defineSong(0, song_len, notes, durations);
// Sleep to provide time for song to register
usleep(1000000);
@ -81,17 +81,13 @@ int main(int argc, char** argv) {
std::cout << "Playing a song!" << std::endl;
// Request to play the song we just defined
robot->playSong(0);
robot.playSong(0);
// Expect the song to take about four seconds
usleep(4500000);
// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();
robot.disconnect();
// Clean up
delete robot;
std::cout << "Bye!" << std::endl;
return 0;
}