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This commit is contained in:
Ruixiang Du
2021-07-08 18:20:34 +08:00
parent d2f210e6c1
commit dd810eccba
13 changed files with 148 additions and 77 deletions
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4
demo/scout_demo/CMakeLists.txt
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@@ -2,5 +2,5 @@
add_executable(demo_scout_v2 scout_v2_demo.cpp)
target_link_libraries(demo_scout_v2 ugv_sdk)
# add_executable(demo_scout_robot scout_robot_demo.cpp)
# target_link_libraries(demo_scout_robot ugv_sdk)
add_executable(demo_scout_robot scout_robot_demo.cpp)
target_link_libraries(demo_scout_robot ugv_sdk)

86
demo/scout_demo/scout_robot_demo.cpp
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@@ -25,54 +25,54 @@ int main(int argc, char **argv) {
return -1;
}
ScoutRobot scout(AgilexProtocol::V1);
// scout.Connect(device_name);
ScoutRobot scout(ProtocolType::AGX_V2);
// scout.Connect(device_name);
// scout.EnableCommandedMode();
// scout.EnableCommandedMode();
// // // light control
// std::cout << "Light: const off" << std::endl;
// scout.SetLightCommand({CONST_OFF, 0, CONST_OFF, 0});
// sleep(3);
// std::cout << "Light: const on" << std::endl;
// scout.SetLightCommand({CONST_ON, 0, CONST_ON, 0});
// sleep(3);
// 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});
// sleep(3);
// std::cout << "Light: diabled cmd control" << std::endl;
// scout.DisableLightControl();
// // // light control
// std::cout << "Light: const off" << std::endl;
// scout.SetLightCommand({CONST_OFF, 0, CONST_OFF, 0});
// sleep(3);
// std::cout << "Light: const on" << std::endl;
// scout.SetLightCommand({CONST_ON, 0, CONST_ON, 0});
// sleep(3);
// 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});
// sleep(3);
// std::cout << "Light: diabled cmd control" << std::endl;
// scout.DisableLightControl();
// int count = 0;
// while (true) {
// // motion control
// if (count < 100) {
// std::cout << "Motor: 0.2, 0" << std::endl;
// scout.SetMotionCommand(0.2, 0.0);
// }
// int count = 0;
// while (true) {
// // motion control
// if (count < 100) {
// std::cout << "Motor: 0.2, 0" << std::endl;
// scout.SetMotionCommand(0.2, 0.0);
// }
// // get robot state
// auto state = scout.GetScoutState();
// std::cout << "-------------------------------" << std::endl;
// std::cout << "count: " << count << std::endl;
// std::cout << "control mode: "
// << static_cast<int>(state.system_state.control_mode)
// << " , vehicle state: "
// << static_cast<int>(state.system_state.vehicle_state)
// << std::endl;
// std::cout << "battery voltage: " << state.system_state.battery_voltage
// << std::endl;
// std::cout << "velocity (linear, angular): "
// << state.motion_state.linear_velocity << ", "
// << state.motion_state.angular_velocity << std::endl;
// std::cout << "-------------------------------" << std::endl;
// // get robot state
// auto state = scout.GetScoutState();
// std::cout << "-------------------------------" << std::endl;
// std::cout << "count: " << count << std::endl;
// std::cout << "control mode: "
// << static_cast<int>(state.system_state.control_mode)
// << " , vehicle state: "
// << static_cast<int>(state.system_state.vehicle_state)
// << std::endl;
// std::cout << "battery voltage: " << state.system_state.battery_voltage
// << std::endl;
// std::cout << "velocity (linear, angular): "
// << state.motion_state.linear_velocity << ", "
// << state.motion_state.angular_velocity << std::endl;
// std::cout << "-------------------------------" << std::endl;
// usleep(20000);
// ++count;
// }
// usleep(20000);
// ++count;
// }
return 0;
}

2
demo/scout_demo/scout_v2_demo.cpp
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@@ -23,7 +23,7 @@ int main(int argc, char **argv) {
return -1;
}
ScoutBase scout;
ScoutBaseV2 scout;
scout.Connect(device_name);
scout.EnableCommandedMode();