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code cleanup

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This commit is contained in:
Ruixiang Du
2020-04-01 13:11:14 +08:00
parent 3695365b32
commit f8572d13cc
4042 changed files with 334 additions and 215 deletions
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33
src/apps/hunter_demo/hunter_demo.cpp
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@@ -21,22 +21,15 @@ int main(int argc, char **argv)
device_name = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl;
}
else if (argc == 3)
{
device_name = {argv[1]};
baud_rate = std::stol(argv[2]);
std::cout << "Specified serial: " << device_name << "@" << baud_rate << std::endl;
}
else
{
std::cout << "Usage: app_scout_demo <interface>" << std::endl
<< "Example 1: ./app_scout_demo can0" << std::endl
<< "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
<< "Example 1: ./app_scout_demo can0" << std::endl;
return -1;
}
HunterBase scout;
scout.Connect(device_name, baud_rate);
scout.Connect(device_name);
int count = 0;
while (true)
@@ -44,33 +37,33 @@ int main(int argc, char **argv)
// motion control
if (count < 5)
{
std::cout << "Motor: 0.2, 0" << std::endl;
std::cout << "Motor: 0.2, 0.0" << std::endl;
scout.SetMotionCommand(0.2, 0.0);
}
else if (count < 10)
{
std::cout << "Motor: 0.8, 0" << std::endl;
scout.SetMotionCommand(0.8, 0.0);
std::cout << "Motor: 0.8, 0.3" << std::endl;
scout.SetMotionCommand(0.8, 0.3);
}
else if (count < 15)
{
std::cout << "Motor: 1.5, 0" << std::endl;
scout.SetMotionCommand(1.5, 0.0);
std::cout << "Motor: 1.5, 0.5" << std::endl;
scout.SetMotionCommand(1.5, 0.5);
}
else if (count < 20)
{
std::cout << "Motor: 1.0, 0.5" << std::endl;
scout.SetMotionCommand(1.0, 0.5);
std::cout << "Motor: 1.0, 0.3" << std::endl;
scout.SetMotionCommand(1.0, 0.3);
}
else if (count < 25)
{
std::cout << "Motor: 0.0, 0" << std::endl;
std::cout << "Motor: 0.0, 0.0" << std::endl;
scout.SetMotionCommand(0.0, 0.0);
}
else if (count < 30)
{
std::cout << "Motor: -0.5, 0" << std::endl;
scout.SetMotionCommand(-0.5, 0.0);
std::cout << "Motor: -0.5, -0.3" << std::endl;
scout.SetMotionCommand(-0.5, -0.3);
}
else if (count < 35)
{
@@ -79,7 +72,7 @@ int main(int argc, char **argv)
}
else if (count < 40)
{
std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
std::cout << "Motor: 0.0, 0.0," << std::endl;
scout.SetMotionCommand(0.0, 0.0);
}