mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

demo_scout_robot runs

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-09 00:06:03 +08:00
parent 44a793ef89
commit c1e530e22c
4 changed files with 69 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@@ -77,7 +77,7 @@ add_library(${PROJECT_NAME}
src/async_port/async_can.cpp src/async_port/async_can.cpp
######################## ########################
## public interface to access robot ## public interface to access robot
src/mobile_base/scout_robot.cpp src/mobile_robot/scout_robot.cpp
######################## ########################
## protocol v2 support ## protocol v2 support
# parser # parser

116
demo/scout_demo/scout_robot_demo.cpp
View File

@@ -7,72 +7,90 @@
* Copyright (c) 2021 Weston Robot Pte. Ltd. * Copyright (c) 2021 Weston Robot Pte. Ltd.
*/ */
#include <unistd.h>
#include <memory>
#include <iostream> #include <iostream>
#include "ugv_sdk/mobile_base/scout_robot.hpp" #include "ugv_sdk/mobile_robot/scout_robot.hpp"
using namespace westonrobot; using namespace westonrobot;
int main(int argc, char **argv) { int main(int argc, char **argv) {
std::string protocol_version;
std::string device_name; std::string device_name;
if (argc == 2) { if (argc == 3) {
device_name = {argv[1]}; protocol_version = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl; device_name = {argv[2]};
std::cout << "Use protocol " << protocol_version << " on interface "
<< device_name << std::endl;
} else { } else {
std::cout << "Usage: app_scout_demo <interface>" << std::endl std::cout << "Usage: app_scout_demo <protocol-version> <interface>"
<< "Example 1: ./app_scout_demo can0" << std::endl; << std::endl
<< "Example 1: ./app_scout_demo v1 can0" << std::endl;
return -1; return -1;
} }
ScoutRobot scout(ProtocolType::AGX_V2); std::unique_ptr<ScoutRobot> scout;
// scout.Connect(device_name); if (protocol_version == "v1") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V1));
} else if (protocol_version == "v2") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V2));
} else {
std::cout << "Error: invalid protocol version string" << std::endl;
return -1;
}
// scout.EnableCommandedMode(); if (scout == nullptr)
std::cout << "Failed to create robot object" << std::endl;
// // // light control scout->Connect(device_name);
// std::cout << "Light: const off" << std::endl; scout->EnableCommandedMode();
// 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; // light control
// while (true) { std::cout << "Light: const off" << std::endl;
// // motion control scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
// if (count < 100) { sleep(3);
// std::cout << "Motor: 0.2, 0" << std::endl; std::cout << "Light: const on" << std::endl;
// scout.SetMotionCommand(0.2, 0.0); 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();
// // get robot state int count = 0;
// auto state = scout.GetScoutState(); while (true) {
// std::cout << "-------------------------------" << std::endl; // motion control
// std::cout << "count: " << count << std::endl; if (count < 100) {
// std::cout << "control mode: " std::cout << "Motor: 0.2, 0" << std::endl;
// << static_cast<int>(state.system_state.control_mode) scout->SetMotionCommand(0.2, 0.0);
// << " , 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); // get robot state
// ++count; auto state = scout->GetRobotState();
// } 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);
++count;
}
return 0; return 0;
} }

0
include/ugv_sdk/mobile_base/scout_robot.hpp → include/ugv_sdk/mobile_robot/scout_robot.hpp
View File

2
src/mobile_base/scout_robot.cpp → src/mobile_robot/scout_robot.cpp
View File

@@ -7,7 +7,7 @@
* Copyright (c) 2021 Weston Robot Pte. Ltd. * Copyright (c) 2021 Weston Robot Pte. Ltd.
*/ */
#include "ugv_sdk/mobile_base/scout_robot.hpp" #include "ugv_sdk/mobile_robot/scout_robot.hpp"
#include "ugv_sdk/details/robot_base/scout_base.hpp" #include "ugv_sdk/details/robot_base/scout_base.hpp"
namespace westonrobot { namespace westonrobot {