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added catkin support

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This commit is contained in:
Ruixiang Du
2020-06-01 18:45:56 +08:00
parent 98c7792d43
commit d5b3da58da
3 changed files with 83 additions and 14 deletions
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26
src/apps/hunter_demo/hunter_demo.cpp
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@@ -23,13 +23,13 @@ int main(int argc, char **argv)
}
else
{
std::cout << "Usage: app_scout_demo <interface>" << std::endl
<< "Example 1: ./app_scout_demo can0" << std::endl;
std::cout << "Usage: app_hunter_demo <interface>" << std::endl
<< "Example 1: ./app_hunter_demo can0" << std::endl;
return -1;
}
HunterBase scout;
scout.Connect(device_name);
HunterBase hunter;
hunter.Connect(device_name);
int count = 0;
while (true)
@@ -38,45 +38,45 @@ int main(int argc, char **argv)
if (count < 5)
{
std::cout << "Motor: 0.2, 0.0" << std::endl;
scout.SetMotionCommand(0.2, 0.0);
hunter.SetMotionCommand(0.2, 0.0);
}
else if (count < 10)
{
std::cout << "Motor: 0.8, 0.3" << std::endl;
scout.SetMotionCommand(0.8, 0.3);
hunter.SetMotionCommand(0.8, 0.3);
}
else if (count < 15)
{
std::cout << "Motor: 1.5, 0.5" << std::endl;
scout.SetMotionCommand(1.5, 0.5);
hunter.SetMotionCommand(1.5, 0.5);
}
else if (count < 20)
{
std::cout << "Motor: 1.0, 0.3" << std::endl;
scout.SetMotionCommand(1.0, 0.3);
hunter.SetMotionCommand(1.0, 0.3);
}
else if (count < 25)
{
std::cout << "Motor: 0.0, 0.0" << std::endl;
scout.SetMotionCommand(0.0, 0.0);
hunter.SetMotionCommand(0.0, 0.0);
}
else if (count < 30)
{
std::cout << "Motor: -0.5, -0.3" << std::endl;
scout.SetMotionCommand(-0.5, -0.3);
hunter.SetMotionCommand(-0.5, -0.3);
}
else if (count < 35)
{
std::cout << "Motor: -1.0, -0.5" << std::endl;
scout.SetMotionCommand(-1.0, -0.5);
hunter.SetMotionCommand(-1.0, -0.5);
}
else if (count < 40)
{
std::cout << "Motor: 0.0, 0.0," << std::endl;
scout.SetMotionCommand(0.0, 0.0);
hunter.SetMotionCommand(0.0, 0.0);
}
auto state = scout.GetHunterState();
auto state = hunter.GetHunterState();
std::cout << "-------------------------------" << std::endl;
std::cout << "count: " << count << std::endl;
std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;