Smikkelbakje/J2S1-Kobuki
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movement test

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This commit is contained in:
Sam Hos
2024-09-23 13:50:14 +02:00
parent bc0b6946f7
commit 0db8ab3e2f
1 changed files with 15 additions and 7 deletions
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22
src/C++/Driver/src/main.cpp
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@@ -9,19 +9,27 @@ CKobuki robot;
int main() { int main() {
unsigned char * null_ptr(0); unsigned char * null_ptr(0);
int text;
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
usleep(1*1000*1000); usleep(1*1000*1000);
cout << "Enter commando";
robot.goStraight(1); cin >> text;
if (text == 1) {
robot.goStraight(10);
}
if (text == 2) {
robot.doRotation(90);
}
if (text == 3) {
robot.doRotation(90);
}
else {
cout << "no text specified";
}
usleep(30*1000*1000); usleep(30*1000*1000);
} }
int checkCenterCliff() { int checkCenterCliff() {
while(true) { while(true) {
std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl; std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;