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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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21
apps/tracer_demo/tracer_demo.cpp
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@@ -7,13 +7,12 @@
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/tracer/tracer_base.hpp"
#include "ugv_sdk/tracer_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]};
@@ -32,19 +31,19 @@ int main(int argc, char **argv) {
// light control
std::cout << "Light: const off" << std::endl;
tracer.SetLightCommand({TracerLightCmd::LightMode::CONST_OFF, 0});
tracer.SetLightCommand({CONST_OFF, 0});
// usleep(50000);
sleep(3);
std::cout << "Light: const on" << std::endl;
tracer.SetLightCommand({TracerLightCmd::LightMode::CONST_ON, 0});
tracer.SetLightCommand({CONST_ON, 0});
// usleep(50000);
sleep(3);
std::cout << "Light: breath" << std::endl;
tracer.SetLightCommand({TracerLightCmd::LightMode::BREATH, 0});
tracer.SetLightCommand({BREATH, 0});
// usleep(50000);
sleep(8);
std::cout << "Light: custom 90-80" << std::endl;
tracer.SetLightCommand({TracerLightCmd::LightMode::CUSTOM, 90});
tracer.SetLightCommand({CUSTOM, 90});
// usleep(50000);
sleep(3);
std::cout << "Light: diabled cmd control" << std::endl;
@@ -83,12 +82,12 @@ int main(int argc, char **argv) {
auto state = tracer.GetTracerState();
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);