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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
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/** | ||
Software License Agreement (BSD) | ||
\file cliffs.cpp | ||
\authors Jacob Perron <jacobmperron@gmail.com> | ||
\copyright Copyright (c) 2019, Jacob Perron, All rights reserved. | ||
Redistribution and use in source and binary forms, with or without | ||
modification, are permitted provided that the following conditions are met: | ||
* Redistributions of source code must retain the above copyright notice, | ||
this list of conditions and the following disclaimer. | ||
* Redistributions in binary form must reproduce the above copyright notice, | ||
this list of conditions and the following disclaimer in the | ||
documentation and/or other materials provided with the distribution. | ||
* Neither the name of the copyright holder nor the names of its contributors | ||
may be used to endorse or promote products derived from this software | ||
without specific prior written permission. | ||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
POSSIBILITY OF SUCH DAMAGE. | ||
*/ | ||
#include "create/create.h" | ||
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#include <iostream> | ||
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int main(int argc, char** argv) { | ||
// Select robot. Assume Create 2 unless argument says otherwise | ||
create::RobotModel model = create::RobotModel::CREATE_2; | ||
std::string port = "/dev/ttyUSB0"; | ||
int baud = 115200; | ||
if (argc > 1 && std::string(argv[1]) == "create1") { | ||
model = create::RobotModel::CREATE_1; | ||
baud = 57600; | ||
std::cout << "Running driver for Create 1" << std::endl; | ||
} | ||
else { | ||
std::cout << "Running driver for Create 2" << std::endl; | ||
} | ||
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// Construct robot object | ||
create::Create* robot = new create::Create(model); | ||
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// Connect to robot | ||
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; | ||
} | ||
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// Switch to Full mode | ||
robot->setMode(create::MODE_FULL); | ||
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std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl; | ||
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while (!robot->isCleanButtonPressed()) { | ||
// Get cliff status | ||
const bool cliff_left = robot->isCliffLeft(); | ||
const bool cliff_front_left = robot->isCliffFrontLeft(); | ||
const bool cliff_front_right = robot->isCliffFrontRight(); | ||
const bool cliff_right = robot->isCliffRight(); | ||
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// Print status | ||
std::cout << "\rCliffs (left to right): [ " << | ||
cliff_left << | ||
", " << | ||
cliff_front_left << | ||
", " << | ||
cliff_front_right << | ||
", " << | ||
cliff_right << | ||
" ]"; | ||
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usleep(10000); // 10 Hz | ||
} | ||
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std::cout << std::endl; | ||
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// Call disconnect to avoid leaving robot in Full mode | ||
robot->disconnect(); | ||
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// Clean up | ||
delete robot; | ||
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return 0; | ||
} |