ugv_sdk/demo/scout_demo/scout_v2_demo.cpp

/*
 * demo_scout_can.cpp
 *
 * Created on: Jun 12, 2019 05:03
 * Description:
 *
 * Copyright (c) 2019 Ruixiang Du (rdu)
 */

#include "ugv_sdk/details/robot_base/scout_base.hpp"

using namespace westonrobot;

int main(int argc, char **argv) {
  std::string device_name;

  if (argc == 2) {
    device_name = {argv[1]};
    std::cout << "Specified CAN: " << device_name << std::endl;
  } else {
    std::cout << "Usage: app_scout_demo <interface>" << std::endl
              << "Example 1: ./app_scout_demo can0" << std::endl;
    return -1;
  }

  ScoutBaseV2 scout;
  scout.Connect(device_name);

  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();

  int count = 0;
  while (true) {
    // motion control
    if (count < 500) {
      std::cout << "Motor: 0.2, 0" << std::endl;
      scout.SetMotionCommand(0.2, 0.0);
    }

    auto state = scout.GetRobotState();
    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;
  }

  return 0;
}