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added scout mini omni support, updated scout related demo

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This commit is contained in:
Ruixiang Du
2021-07-16 14:15:12 +08:00
parent 58314696a9
commit 2a94b95f4a
10 changed files with 255 additions and 17 deletions
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22
src/mobile_robot/scout_robot.cpp
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@@ -36,7 +36,7 @@ void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void ScoutRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
// robot_->Connect(uart_name, baudrate);
// robot_->Connect(uart_name, baudrate);
}
void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); }
@@ -67,4 +67,24 @@ ScoutActuatorState ScoutRobot::GetActuatorState() {
auto scout = dynamic_cast<ScoutInterface*>(robot_);
return scout->GetActuatorState();
}
///////////////////////////////////////////////////////////////////////////
ScoutMiniOmniRobot::ScoutMiniOmniRobot(ProtocolVersion protocol) {
if (protocol == ProtocolVersion::AGX_V1) {
robot_ = new ScoutMiniOmniBaseV1();
} else if (protocol == ProtocolVersion::AGX_V2) {
robot_ = new ScoutMiniOmniBaseV2();
}
}
ScoutMiniOmniRobot::~ScoutMiniOmniRobot() {
if (robot_) delete robot_;
}
void ScoutMiniOmniRobot::SetMotionCommand(double linear_vel, double angular_vel,
double lateral_velocity) {
auto scout = dynamic_cast<ScoutOmniInterface*>(robot_);
scout->SetMotionCommand(linear_vel, angular_vel, lateral_velocity);
}
} // namespace westonrobot