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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; std::unique_ptr<ScoutRobot> scout;
if (protocol_version == "v1") { if (protocol_version == "v1") {
scout = scout = std::unique_ptr<ScoutRobot>(
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V1)); new ScoutRobot(ProtocolVersion::AGX_V1, true));
} else if (protocol_version == "v2") { } else if (protocol_version == "v2") {
scout = scout = std::unique_ptr<ScoutRobot>(
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V2)); new ScoutRobot(ProtocolVersion::AGX_V2, true));
} else { } else {
std::cout << "Error: invalid protocol version string" << std::endl; std::cout << "Error: invalid protocol version string" << std::endl;
return -1; return -1;
@@ -66,19 +66,18 @@ int main(int argc, char **argv) {
std::cout << "Light: breath" << std::endl; std::cout << "Light: breath" << std::endl;
scout->SetLightCommand(BREATH, 0, BREATH, 0); scout->SetLightCommand(BREATH, 0, BREATH, 0);
sleep(3); sleep(3);
std::cout << "Light: custom 90-80" << std::endl; std::cout << "Light: custom 30-80" << std::endl;
scout->SetLightCommand(CUSTOM, 90, CUSTOM, 80); scout->SetLightCommand(CUSTOM, 30, CUSTOM, 80);
sleep(3); sleep(3);
std::cout << "Light: diabled cmd control" << std::endl; // std::cout << "Light: diabled cmd control" << std::endl;
scout->DisableLightControl(); // scout->DisableLightControl();
scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
int count = 0; int count = 0;
while (true) { while (true) {
// motion control // motion control
// if (count < 100) { std::cout << "Motor: 1.0, 0" << std::endl;
std::cout << "Motor: 0.2, 0" << std::endl; scout->SetMotionCommand(1.0, 0.0);
scout->SetMotionCommand(0.2, 0.0);
// }
// get robot state // get robot state
auto state = scout->GetRobotState(); auto state = scout->GetRobotState();

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 ScoutProtocolV1Parser = ProtocolV1Parser<ScoutV2Limits>;
using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutV2Limits>; using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutMiniLimits>;
using HunterProtocolV1Parser = ProtocolV1Parser<HunterV1Limits>; 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 { namespace westonrobot {
using ScoutBaseV1 = ScoutBase<ScoutProtocolV1Parser>; using ScoutBaseV1 = ScoutBase<ScoutProtocolV1Parser>;
using ScoutMiniBaseV1 = ScoutBase<ScoutMiniProtocolV1Parser>;
using ScoutBaseV2 = ScoutBase<ProtocolV2Parser>; using ScoutBaseV2 = ScoutBase<ProtocolV2Parser>;
using ScoutMiniBaseV2 = ScoutBase<ProtocolV2Parser>;
} // namespace westonrobot } // namespace westonrobot
#endif /* SCOUT_BASE_HPP */ #endif /* SCOUT_BASE_HPP */

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

10
src/mobile_robot/scout_robot.cpp
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@@ -11,12 +11,20 @@
#include "ugv_sdk/details/robot_base/scout_base.hpp" #include "ugv_sdk/details/robot_base/scout_base.hpp"
namespace westonrobot { namespace westonrobot {
ScoutRobot::ScoutRobot(ProtocolVersion protocol) { ScoutRobot::ScoutRobot(ProtocolVersion protocol, bool is_mini_model) {
if (!is_mini_model) {
if (protocol == ProtocolVersion::AGX_V1) { if (protocol == ProtocolVersion::AGX_V1) {
robot_ = new ScoutBaseV1(); robot_ = new ScoutBaseV1();
} else if (protocol == ProtocolVersion::AGX_V2) { } else if (protocol == ProtocolVersion::AGX_V2) {
robot_ = new ScoutBaseV2(); robot_ = new ScoutBaseV2();
} }
} else {
if (protocol == ProtocolVersion::AGX_V1) {
robot_ = new ScoutMiniBaseV1();
} else if (protocol == ProtocolVersion::AGX_V2) {
robot_ = new ScoutMiniBaseV2();
}
}
} }
ScoutRobot::~ScoutRobot() { ScoutRobot::~ScoutRobot() {