mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/**
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* @Kit : Qt-Creator: Desktop
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* @Author : Wang Zhe
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* @Date : 2021-04-19 19:41:52
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* @FileName : ranger_demo.cpp
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* @Mail : wangzheqie@qq.com
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* Copyright : AgileX Robotics
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**/
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#include "ugv_sdk/protocol_v2/ranger_base.hpp"
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using namespace westonrobot;
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int main(int argc, char *argv[]) {
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std::string device_name;
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if (argc == 2) {
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device_name = {argv[1]};
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std::cout << "Specified CAN: " << device_name << std::endl;
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} else {
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std::cout << "Usage: app_ranger_demo <interface>" << std::endl
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<< "Example 1: ./app_ranger_demo can0" << std::endl;
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return -1;
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}
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RangerBase ranger;
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ranger.Connect(device_name);
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ranger.EnableCommandedMode();
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int count = 0;
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while (true) {
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if (count < 100) {
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std::cout << "Motor: 0.2, 0" << std::endl;
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ranger.SetMotionCommand(0.2, 0.0);
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}
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auto state = ranger.GetRangerState();
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std::cout << "-------------------------------" << std::endl;
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std::cout << "count: " << count << std::endl;
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std::cout << "control mode: "
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<< static_cast<int>(state.system_state.control_mode)
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<< " , vehicle state: "
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<< static_cast<int>(state.system_state.vehicle_state)
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<< std::endl;
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std::cout << "battery voltage: " << state.system_state.battery_voltage
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<< std::endl;
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std::cout << "velocity (linear, angular): "
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<< state.motion_state.linear_velocity << ", "
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<< state.motion_state.angular_velocity << std::endl;
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std::cout << "-------------------------------" << std::endl;
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usleep(20000);
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++count;
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}
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return 0;
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}
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