ugv_sdk/demo/scout_demo/scout_robot_demo.cpp

/*
 * scout_robot_demo.cpp
 *
 * Created on: Jul 08, 2021 11:12
 * Description:
 *
 * Copyright (c) 2021 Weston Robot Pte. Ltd.
 */

#include <iostream>

#include "ugv_sdk/mobile_base/scout_robot.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;
  }

  ScoutRobot scout(AgilexProtocol::V1);
//   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 < 100) {
//       std::cout << "Motor: 0.2, 0" << std::endl;
//       scout.SetMotionCommand(0.2, 0.0);
//     }

//     // get robot state
//     auto state = scout.GetScoutState();
//     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;
}