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code compiles with new structure

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This commit is contained in:
Ruixiang Du
2020-06-17 11:18:04 +08:00
parent 8bbca03528
commit 44b89ee5f9
4100 changed files with 292 additions and 489458 deletions
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45
tests/test_scout_serial.cpp Normal file
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#include <iostream>
#include "scout_base/details/scout_serial_parser.hpp"
using namespace wescore;
#include "scout_base/scout_base.hpp"
#define TEST_WITHOUT_SERIAL_HARDWARE
using namespace wescore;
int main(int argc, char **argv)
{
ScoutBase scout;
// scout.ConfigureCANBus("can1");
scout.Connect("/dev/ttyUSB0", 115200);
// scout.StartCmdThread(10);
// scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
int count = 0;
while (true)
{
// scout.SetMotionCommand(0.5, 0.2);
// if(count == 10)
// {
// // scout.SetLightCommand({ScoutLightCmd::LightMode::LIGHT_MODE_CONST_OFF, 0, ScoutLightCmd::LightMode::LIGHT_MODE_CONST_OFF, 0});
// scout.DisableLightCmdControl();
// }
auto state = scout.GetScoutState();
std::cout << "-------------------------------" << 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 << "-------------------------------" << std::endl;
sleep(1);
++count;
}
return 0;
}