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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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10
src/mobile_robot/scout_robot.cpp
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@@ -11,10 +11,10 @@
#include "ugv_sdk/details/robot_base/scout_base.hpp"
namespace westonrobot {
ScoutRobot::ScoutRobot(ProtocolType protocol) {
if (protocol == ProtocolType::AGX_V1) {
ScoutRobot::ScoutRobot(ProtocolVersion protocol) {
if (protocol == ProtocolVersion::AGX_V1) {
robot_ = new ScoutBaseV1();
} else if (protocol == ProtocolType::AGX_V2) {
} else if (protocol == ProtocolVersion::AGX_V2) {
robot_ = new ScoutBaseV2();
}
}
@@ -33,6 +33,10 @@ void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); }
ProtocolVersion ScoutRobot::GetProtocolVersion() {
return robot_->GetProtocolVersion();
}
void ScoutRobot::SetMotionCommand(double linear_vel, double angular_vel) {
auto scout = dynamic_cast<ScoutInterface*>(robot_);
scout->SetMotionCommand(linear_vel, angular_vel);