mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
115 lines
3.5 KiB
C++
115 lines
3.5 KiB
C++
/*
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* scout_robot_demo.cpp
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*
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* Created on: Jul 08, 2021 11:12
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* Description:
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*
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* Copyright (c) 2021 Weston Robot Pte. Ltd.
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*/
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#include <unistd.h>
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#include <memory>
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#include <iostream>
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#include "ugv_sdk/mobile_robot/scout_robot.hpp"
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using namespace westonrobot;
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int main(int argc, char **argv) {
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std::string protocol_version;
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std::string device_name;
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if (argc == 3) {
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protocol_version = {argv[1]};
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device_name = {argv[2]};
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std::cout << "Use protocol " << protocol_version << " on interface "
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<< device_name << std::endl;
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} else {
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std::cout << "Usage: app_scout_demo <protocol-version> <interface>"
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<< std::endl
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<< "Example 1: ./app_scout_demo v1 can0" << std::endl;
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return -1;
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}
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std::unique_ptr<ScoutRobot> scout;
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if (protocol_version == "v1") {
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scout =
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std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V1));
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} else if (protocol_version == "v2") {
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scout =
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std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolVersion::AGX_V2));
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} else {
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std::cout << "Error: invalid protocol version string" << std::endl;
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return -1;
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}
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if (scout == nullptr)
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std::cout << "Failed to create robot object" << std::endl;
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scout->Connect(device_name);
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if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V2) {
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scout->EnableCommandedMode();
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std::cout << "Protocol version 2" << std::endl;
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} else {
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std::cout << "Protocol version 1" << std::endl;
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}
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// light control
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std::cout << "Light: const off" << std::endl;
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scout->SetLightCommand(CONST_OFF, 0, 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(CONST_ON, 0, 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(BREATH, 0, 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(CUSTOM, 90, 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->DisableLightControl();
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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 < 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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// get robot state
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auto state = scout->GetRobotState();
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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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<< " , error code: " << std::hex << state.system_state.error_code
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<< ", 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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if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V1) {
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for (int i = 0; i < 4; ++i) {
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printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
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state.actuator_state[i].motor_id,
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state.actuator_state[i].current, state.actuator_state[i].rpm,
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state.actuator_state[i].driver_temp,
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state.actuator_state[i].motor_temp);
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}
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} else {
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}
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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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} |