forked from compAIR/libcreate
64 lines
2.1 KiB
C++
64 lines
2.1 KiB
C++
#include "create/create.h"
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create::Create* robot;
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int main(int argc, char** argv) {
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std::string port = "/dev/ttyUSB0";
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int baud = 115200;
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create::RobotModel model = create::CREATE_2;
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if (argc > 1 && std::string(argv[1]) == "create1") {
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model = create::CREATE_1;
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baud = 57600;
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std::cout << "1st generation Create selected" << std::endl;
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}
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robot = new create::Create(model);
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// Attempt to connect to Create
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if (robot->connect(port, baud))
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std::cout << "Successfully connected to Create" << std::endl;
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else {
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std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
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return 1;
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}
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robot->setMode(create::MODE_FULL);
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usleep(1000000);
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// Drive in a circle
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robot->drive(0.1, 0.5);
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// Quit when center "Clean" button pressed
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while (!robot->isCleanButtonPressed()) {
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create::Pose pose = robot->getPose();
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create::Vel vel = robot->getVel();
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// Print pose
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std::cout << "x: " << pose.x
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<< "\ty: " << pose.y
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<< "\tyaw: " << pose.yaw * 180.0/create::util::PI << std::endl << std::endl;
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// Print velocity
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std::cout << "vx: " << vel.x
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<< "\tvy: " << vel.y
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<< "\tvyaw: " << vel.yaw * 180.0/create::util::PI << std::endl << std::endl;
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// Print covariances
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std::cout << "[ " << pose.covariance[0] << ", " << pose.covariance[1] << ", " << pose.covariance[2] << std::endl
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<< " " << pose.covariance[3] << ", " << pose.covariance[4] << ", " << pose.covariance[5] << std::endl
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<< " " << pose.covariance[6] << ", " << pose.covariance[7] << ", " << pose.covariance[8] << " ]" << std::endl << std::endl;;
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std::cout << "[ " << vel.covariance[0] << ", " << vel.covariance[1] << ", " << vel.covariance[2] << std::endl
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<< " " << vel.covariance[3] << ", " << vel.covariance[4] << ", " << vel.covariance[5] << std::endl
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<< " " << vel.covariance[6] << ", " << vel.covariance[7] << ", " << vel.covariance[8] << " ]" << std::endl << std::endl;;
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usleep(1000 * 100); //10hz
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}
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std::cout << "Stopping Create." << std::endl;
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robot->disconnect();
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delete robot;
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return 0;
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}
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