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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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2
include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp
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@@ -61,7 +61,7 @@ class ProtocolV1Parser : public ParserInterface<ProtocolVersion::AGX_V1> {
};
using ScoutProtocolV1Parser = ProtocolV1Parser<ScoutV2Limits>;
using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutV2Limits>;
using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutMiniLimits>;
using HunterProtocolV1Parser = ProtocolV1Parser<HunterV1Limits>;

3
include/ugv_sdk/details/robot_base/scout_base.hpp
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@@ -125,7 +125,10 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
namespace westonrobot {
using ScoutBaseV1 = ScoutBase<ScoutProtocolV1Parser>;
using ScoutMiniBaseV1 = ScoutBase<ScoutMiniProtocolV1Parser>;
using ScoutBaseV2 = ScoutBase<ProtocolV2Parser>;
using ScoutMiniBaseV2 = ScoutBase<ProtocolV2Parser>;
} // namespace westonrobot
#endif /* SCOUT_BASE_HPP */

3
include/ugv_sdk/mobile_robot/scout_robot.hpp
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@@ -18,7 +18,8 @@
namespace westonrobot {
class ScoutRobot : public RobotInterface, public ScoutInterface {
public:
ScoutRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
ScoutRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2,
bool is_mini_model = false);
~ScoutRobot();
void Connect(std::string can_name) override;