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removed outdated sample

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This commit is contained in:
Ruixiang Du
2021-10-05 16:10:18 +08:00
parent 3069712c5a
commit 7abf0c5c09
2 changed files with 0 additions and 107 deletions
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8
sample/CMakeLists.txt
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@@ -1,8 +0,0 @@
cmake_minimum_required(VERSION 3.10.2)
project(sdk_sample)
find_package(ugv_sdk REQUIRED)
find_package(Threads REQUIRED)
add_executable(app_tracer_demo tracer_demo.cpp)
target_link_libraries(app_tracer_demo PRIVATE ugv_sdk Threads::Threads)

99
sample/tracer_demo.cpp
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@@ -1,99 +0,0 @@
/*
* demo_tracer_can.cpp
*
* Created on: Jun 12, 2019 05:03
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/tracer_base.hpp"
using namespace westonrobot;
int main(int argc, char **argv) {
std::string device_name;
if (argc == 2) {
device_name = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl;
} else {
std::cout << "Usage: app_tracer_demo <interface>" << std::endl
<< "Example 1: ./app_tracer_demo can0" << std::endl;
return -1;
}
TracerBaseV2 tracer;
tracer.Connect(device_name);
tracer.EnableCommandedMode();
// tracer.DisableTimeout();
// light control
std::cout << "Light: const off" << std::endl;
tracer.SetLightCommand({CONST_OFF, 0});
// usleep(50000);
sleep(3);
std::cout << "Light: const on" << std::endl;
tracer.SetLightCommand({CONST_ON, 0});
// usleep(50000);
sleep(3);
std::cout << "Light: breath" << std::endl;
tracer.SetLightCommand({BREATH, 0});
// usleep(50000);
sleep(8);
std::cout << "Light: custom 90-80" << std::endl;
tracer.SetLightCommand({CUSTOM, 90});
// usleep(50000);
sleep(3);
std::cout << "Light: diabled cmd control" << std::endl;
tracer.SetLightCommand(TracerLightCmd());
int count = 0;
while (true) {
// motion control
if (count < 5) {
std::cout << "Motor: 0.2, 0.0" << std::endl;
tracer.SetMotionCommand(0.2, 0.0);
} else if (count < 10) {
std::cout << "Motor: 0.8, 0.3" << std::endl;
tracer.SetMotionCommand(0.8, 0.3);
} else if (count < 15) {
std::cout << "Motor: 1.5, 0.5" << std::endl;
tracer.SetMotionCommand(1.5, 0.5);
} else if (count < 20) {
std::cout << "Motor: 1.0, 0.3" << std::endl;
tracer.SetMotionCommand(1.0, 0.3);
} else if (count < 25) {
std::cout << "Motor: 0.0, 0.0" << std::endl;
tracer.SetMotionCommand(0.0, 0.0);
} else if (count < 30) {
std::cout << "Motor: -0.5, -0.3" << std::endl;
tracer.SetMotionCommand(-0.5, -0.3);
} else if (count < 35) {
std::cout << "Motor: -1.0, -0.5" << std::endl;
tracer.SetMotionCommand(-1.0, -0.5);
} else if (count < 40) {
std::cout << "Motor: 0.0, 0.0," << std::endl;
tracer.SetMotionCommand(0.0, 0.0);
}
// tracer.SetMotionCommand(0.8, 0.8);
auto state = tracer.GetTracerState();
std::cout << "-------------------------------" << std::endl;
std::cout << "count: " << count << 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;
// usleep(20000);
sleep(1);
++count;
}
return 0;
}