mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
122 lines
3.8 KiB
C++
122 lines
3.8 KiB
C++
/*
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* demo_scout_can.cpp
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*
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* Created on: Jun 12, 2019 05:03
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* Description:
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*
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* Copyright (c) 2019 Ruixiang Du (rdu)
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*/
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#include "ugv_sdk/scout/scout_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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int32_t baud_rate = 0;
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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 if (argc == 3) {
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device_name = {argv[1]};
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baud_rate = std::stol(argv[2]);
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std::cout << "Specified serial: " << device_name << "@" << baud_rate
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<< std::endl;
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} else {
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std::cout << "Usage: app_scout_demo <interface>" << std::endl
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<< "Example 1: ./app_scout_demo can0" << std::endl
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<< "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
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return -1;
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}
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ScoutBase scout;
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scout.Connect(device_name, baud_rate);
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// // light control
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// std::cout << "Light: const off" << std::endl;
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// scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0,
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// ScoutLightCmd::LightMode::CONST_OFF, 0});
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// sleep(3);
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// std::cout << "Light: const on" << std::endl;
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// scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0,
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// ScoutLightCmd::LightMode::CONST_ON, 0});
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// sleep(3);
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// std::cout << "Light: breath" << std::endl;
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// scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
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// ScoutLightCmd::LightMode::BREATH, 0});
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// sleep(3);
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// std::cout << "Light: custom 90-80" << std::endl;
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// scout.SetLightCommand({ScoutLightCmd::LightMode::CUSTOM, 90,
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// ScoutLightCmd::LightMode::CUSTOM, 80});
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// sleep(3);
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// std::cout << "Light: diabled cmd control" << std::endl;
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// scout.DisableLightCmdControl();
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int count = 0;
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while (true) {
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// motion control
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// if (count < 5)
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// {
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// std::cout << "Motor: 0.2, 0" << std::endl;
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// scout.SetMotionCommand(0.2, 0.0);
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// }
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// else if (count < 10)
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// {
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// std::cout << "Motor: 0.8, 0" << std::endl;
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// scout.SetMotionCommand(0.8, 0.0);
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// }
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// else if (count < 15)
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// {
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// std::cout << "Motor: 1.5, 0" << std::endl;
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// scout.SetMotionCommand(1.5, 0.0);
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// }
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// else if (count < 20)
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// {
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// std::cout << "Motor: 1.0, 0.5" << std::endl;
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// scout.SetMotionCommand(1.0, 0.5);
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// }
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// else if (count < 25)
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// {
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// std::cout << "Motor: 0.0, 0" << std::endl;
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// scout.SetMotionCommand(0.0, 0.0);
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// }
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// else if (count < 30)
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// {
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// std::cout << "Motor: -0.5, 0" << std::endl;
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// scout.SetMotionCommand(-0.5, 0.0);
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// }
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// else if (count < 35)
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// {
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// std::cout << "Motor: -1.0, -0.5" << std::endl;
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// scout.SetMotionCommand(-1.0, -0.5);
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// }
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// else if (count < 40)
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// {
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// std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
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// scout.SetMotionCommand(0.0, 0.0);
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// scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
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// ScoutLightCmd::LightMode::BREATH, 0});
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// }
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if (count < 100) {
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std::cout << "Motor: 0.2, 0" << std::endl;
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scout.SetMotionCommand(0.2, 0.0);
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}
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auto state = scout.GetScoutState();
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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: " << static_cast<int>(state.control_mode)
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<< " , base state: " << static_cast<int>(state.base_state)
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<< std::endl;
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std::cout << "battery voltage: " << state.battery_voltage << std::endl;
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std::cout << "velocity (linear, angular): " << state.linear_velocity << ", "
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<< 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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} |