jakob.kampichler/libcreate
jakob.kampichler/libcreate
1
0
Fork 0
forked from compAIR/libcreate
Code Pull requests Activity

Cleanup examples

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

27
examples/wheeldrop.cpp
View file

@ -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;
@ -58,14 +58,12 @@ int main(int argc, char** argv) {
}
// Switch to Full mode
robot->setMode(create::MODE_FULL);
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 wheeldrop status
const bool wheeldrop_left = robot->isLeftWheeldrop();
const bool wheeldrop_right = robot->isRightWheeldrop();
const bool wheeldrop_left = robot.isLeftWheeldrop();
const bool wheeldrop_right = robot.isRightWheeldrop();
// Print status
std::cout << "\rWheeldrop status (left and right): [ " <<
@ -76,21 +74,12 @@ int main(int argc, char** argv) {
// If dropped, then make light red
if (wheeldrop_left || wheeldrop_right)
robot->setPowerLED(255); // Red
robot.setPowerLED(255); // Red
else
robot->setPowerLED(0); // Green
robot.setPowerLED(0); // Green
usleep(10000); // 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;
}