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added get protocol version api

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This commit is contained in:
Ruixiang Du
2021-07-13 18:03:50 +08:00
parent 8b606b7520
commit f7224bf56f
14 changed files with 96 additions and 55 deletions
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37
demo/scout_demo/scout_robot_demo.cpp
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@@ -34,9 +34,11 @@ int main(int argc, char **argv) {
std::unique_ptr<ScoutRobot> scout;
if (protocol_version == "v1") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V1));
scout =
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V1));
} else if (protocol_version == "v2") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V2));
scout =
std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V2));
} else {
std::cout << "Error: invalid protocol version string" << std::endl;
return -1;
@@ -46,7 +48,13 @@ int main(int argc, char **argv) {
std::cout << "Failed to create robot object" << std::endl;
scout->Connect(device_name);
scout->EnableCommandedMode();
if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V2) {
scout->EnableCommandedMode();
std::cout << "Protocol version 2" << std::endl;
} else {
std::cout << "Protocol version 1" << std::endl;
}
// light control
std::cout << "Light: const off" << std::endl;
@@ -67,10 +75,10 @@ int main(int argc, char **argv) {
int count = 0;
while (true) {
// motion control
if (count < 100) {
std::cout << "Motor: 0.2, 0" << std::endl;
scout->SetMotionCommand(0.2, 0.0);
}
// if (count < 100) {
// std::cout << "Motor: 0.2, 0" << std::endl;
// scout->SetMotionCommand(0.2, 0.0);
// }
// get robot state
auto state = scout->GetRobotState();
@@ -80,12 +88,23 @@ int main(int argc, char **argv) {
<< 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
<< " , error code: " << std::hex << state.system_state.error_code
<< ", 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;
if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V1) {
for (int i = 0; i < 4; ++i) {
printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
state.actuator_state[i].motor_id,
state.actuator_state[i].current, state.actuator_state[i].rpm,
state.actuator_state[i].driver_temp,
state.actuator_state[i].motor_temp);
}
} else {
}
std::cout << "-------------------------------" << std::endl;
usleep(20000);