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updated ranger base

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This commit is contained in:
Ruixiang Du
2021-07-14 23:00:51 +08:00
parent 1b20ecd4d9
commit d234d8caa1
10 changed files with 92 additions and 162 deletions
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1
demo/CMakeLists.txt
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@@ -1,6 +1,7 @@
# demo
add_subdirectory(scout_demo)
add_subdirectory(tracer_demo)
add_subdirectory(ranger_demo)
# add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
# target_link_libraries(app_hunter_demo ugv_sdk)

2
demo/ranger_demo/CMakeLists.txt Normal file
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@@ -0,0 +1,2 @@
add_executable(demo_ranger_robot ranger_demo.cpp)
target_link_libraries(demo_ranger_robot ugv_sdk)

6
demo/ranger_demo/ranger_demo.cpp
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@@ -7,7 +7,7 @@
* Copyright : AgileX Robotics
**/
#include "ugv_sdk/protocol_v2/ranger_base.hpp"
#include "ugv_sdk/mobile_robot/ranger_robot.hpp"
using namespace westonrobot;
@@ -23,7 +23,7 @@ int main(int argc, char *argv[]) {
return -1;
}
RangerBase ranger;
RangerRobot ranger;
ranger.Connect(device_name);
ranger.EnableCommandedMode();
@@ -35,7 +35,7 @@ int main(int argc, char *argv[]) {
ranger.SetMotionCommand(0.2, 0.0);
}
auto state = ranger.GetRangerState();
auto state = ranger.GetRobotState();
std::cout << "-------------------------------" << std::endl;
std::cout << "count: " << count << std::endl;
std::cout << "control mode: "