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updated some path for app and demo for scout and tracer

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This commit is contained in:
pinloon.lee
2021-03-31 15:51:13 +08:00
parent 91836551fe
commit 062f08f8b0
5 changed files with 52 additions and 63 deletions
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65
apps/scout_demo/scout_demo.cpp
View File

@@ -7,51 +7,46 @@
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/scout/scout_base.hpp"
#include "ugv_sdk/scout_base.hpp"
using namespace westonrobot;
int main(int argc, char **argv) {
std::string device_name;
int32_t baud_rate = 0;
if (argc == 2) {
device_name = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl;
} else if (argc == 3) {
device_name = {argv[1]};
baud_rate = std::stol(argv[2]);
std::cout << "Specified serial: " << device_name << "@" << baud_rate
<< std::endl;
} else {
std::cout << "Usage: app_scout_demo <interface>" << std::endl
<< "Example 1: ./app_scout_demo can0" << std::endl
<< "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
<< "Example 1: ./app_scout_demo can0" << std::endl;
return -1;
}
ScoutBase scout;
scout.Connect(device_name, baud_rate);
scout.Connect(device_name);
scout.EnableCommandedMode();
// // light control
// std::cout << "Light: const off" << std::endl;
// scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0,
// ScoutLightCmd::LightMode::CONST_OFF, 0});
// sleep(3);
// std::cout << "Light: const on" << std::endl;
// scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0,
// ScoutLightCmd::LightMode::CONST_ON, 0});
// sleep(3);
// std::cout << "Light: breath" << std::endl;
// scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
// ScoutLightCmd::LightMode::BREATH, 0});
// sleep(3);
// std::cout << "Light: custom 90-80" << std::endl;
// scout.SetLightCommand({ScoutLightCmd::LightMode::CUSTOM, 90,
// ScoutLightCmd::LightMode::CUSTOM, 80});
// sleep(3);
// std::cout << "Light: diabled cmd control" << std::endl;
// scout.DisableLightCmdControl();
std::cout << "Light: const off" << std::endl;
scout.SetLightCommand({CONST_OFF, 0,
CONST_OFF, 0});
sleep(3);
std::cout << "Light: const on" << std::endl;
scout.SetLightCommand({CONST_ON, 0,
CONST_ON, 0});
sleep(3);
std::cout << "Light: breath" << std::endl;
scout.SetLightCommand({BREATH, 0,
BREATH, 0});
sleep(3);
std::cout << "Light: custom 90-80" << std::endl;
scout.SetLightCommand({CUSTOM, 90,
CUSTOM, 80});
sleep(3);
std::cout << "Light: diabled cmd control" << std::endl;
scout.DisableLightControl();
int count = 0;
while (true) {
@@ -95,8 +90,8 @@ int main(int argc, char **argv) {
// {
// std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
// scout.SetMotionCommand(0.0, 0.0);
// scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
// ScoutLightCmd::LightMode::BREATH, 0});
// scout.SetLightCommand({BREATH, 0,
// BREATH, 0});
// }
if (count < 100) {
std::cout << "Motor: 0.2, 0" << std::endl;
@@ -106,12 +101,12 @@ int main(int argc, char **argv) {
auto state = scout.GetScoutState();
std::cout << "-------------------------------" << std::endl;
std::cout << "count: " << count << std::endl;
std::cout << "control mode: " << static_cast<int>(state.control_mode)
<< " , base state: " << static_cast<int>(state.base_state)
std::cout << "control mode: " << static_cast<int>(state.system_state.control_mode)
<< " , vehicle state: " << static_cast<int>(state.system_state.vehicle_state)
<< std::endl;
std::cout << "battery voltage: " << state.battery_voltage << std::endl;
std::cout << "velocity (linear, angular): " << state.linear_velocity << ", "
<< state.angular_velocity << std::endl;
std::cout << "battery voltage: " << state.system_state.battery_voltage << std::endl;
std::cout << "velocity (linear, angular): " << state.motion_state.linear_velocity << ", "
<< state.motion_state.angular_velocity << std::endl;
std::cout << "-------------------------------" << std::endl;
usleep(20000);

25
apps/scout_demo/scout_discharge.cpp
View File

@@ -7,26 +7,19 @@
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "scout_base/scout_base.hpp"
#include "ugv_sdk/scout_base.hpp"
using namespace westonrobot;
int main(int argc, char **argv)
{
std::string device_name;
int32_t baud_rate = 0;
if (argc == 2)
{
device_name = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl;
}
else if (argc == 3)
{
device_name = {argv[1]};
baud_rate = std::stol(argv[2]);
std::cout << "Specified serial: " << device_name << "@" << baud_rate << std::endl;
}
else
{
std::cout << "Usage: app_scout_monitor <interface>" << std::endl
@@ -36,34 +29,36 @@ int main(int argc, char **argv)
}
ScoutBase scout;
scout.Connect(device_name, baud_rate);
scout.Connect(device_name);
scout.EnableCommandedMode();
// light control
std::cout << "Light: const on" << std::endl;
scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
scout.SetLightCommand({CONST_ON, 0, CONST_ON, 0});
int count = 0;
while (true)
{
auto state = scout.GetScoutState();
if (state.battery_voltage >= 22.5)
if (state.system_state.battery_voltage >= 22.5)
{
scout.SetMotionCommand(1.35, 0);
std::cout << "-------------------------------" << std::endl;
std::cout << "-------> discharging <--------" << std::endl;
std::cout << "elapsed time: " << count / 60 << " minutes " << count % 60 << " seconds" << std::endl;
std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
std::cout << "battery voltage: " << state.battery_voltage << std::endl;
std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl;
std::cout << "control mode: " << static_cast<int>(state.system_state.control_mode) << " , vehicle state: " << static_cast<int>(state.system_state.vehicle_state) << std::endl;
std::cout << "battery voltage: " << state.system_state.battery_voltage << std::endl;
std::cout << "velocity (linear, angular): " << state.motion_state.linear_velocity << ", " << state.motion_state.angular_velocity << std::endl;
std::cout << "-------------------------------" << std::endl;
}
else
{
scout.SetMotionCommand(0, 0);
std::cout << "-------------------------------" << std::endl;
std::cout << "discharge stopped at: " << state.battery_voltage << " V" << std::endl;
std::cout << "discharge stopped at: " << state.system_state.battery_voltage << " V" << std::endl;
std::cout << "-------------------------------" << std::endl;
}
sleep(1);