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scout mini works

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This commit is contained in:
Ruixiang Du
2021-07-13 18:58:54 +08:00
parent 3d86c9548c
commit ce8d9a6e66
5 changed files with 30 additions and 19 deletions
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23
demo/scout_demo/scout_robot_demo.cpp
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@@ -34,11 +34,11 @@ int main(int argc, char **argv) {
std::unique_ptr<ScoutRobot> scout;
if (protocol_version == "v1") {
scout =
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V1));
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V1, true));
} else if (protocol_version == "v2") {
scout =
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V2));
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V2, true));
} else {
std::cout << "Error: invalid protocol version string" << std::endl;
return -1;
@@ -66,19 +66,18 @@ int main(int argc, char **argv) {
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);
std::cout << "Light: custom 30-80" << std::endl;
scout->SetLightCommand(CUSTOM, 30, CUSTOM, 80);
sleep(3);
std::cout << "Light: diabled cmd control" << std::endl;
scout->DisableLightControl();
// std::cout << "Light: diabled cmd control" << std::endl;
// scout->DisableLightControl();
scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
int count = 0;
while (true) {
// motion control
// if (count < 100) {
std::cout << "Motor: 0.2, 0" << std::endl;
scout->SetMotionCommand(0.2, 0.0);
// }
std::cout << "Motor: 1.0, 0" << std::endl;
scout->SetMotionCommand(1.0, 0.0);
// get robot state
auto state = scout->GetRobotState();