making a loop so it doesnt stop

src/C++/Driver/src/test.cpp

@@ -15,52 +15,51 @@ int main() {
   unsigned char *null_ptr(0);
   robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
   usleep(1 * 1000 * 1000);
-  std::cout << "choose between forward and rotate" << endl;
   thread mv(command);
   usleep(30 * 1000 * 1000);
   mv.join(); // only exit once thread one is done running
-
-  while (true) {
-    command();
-  }
-
-  return 0;
 }
 
 int checkCenterCliff() {
   while (true) {
-    std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl;
+    std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter
+              << std::endl;
   }
 }
 
 int checkWheelDrop() {
   while (true) {
-    std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl;
+    std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft
+              << std::endl;
   }
 }
 
 int command() {
   char input;
-  std::cout << "What must the robot do?";
-  std::cin >> input;
 
-  switch (input) {
+  while (true) {
-  case FORWARD: {
+    std::cout << "choose between forward and rotate" << endl;
-    int distance;
+    std::cout << "What must the robot do?";
-    std::cout << "Enter distance to move forward: ";
+    std::cin >> input;
-    std::cin >> distance;
-    robot.goStraight(distance);
-  } break;
 
-  case ROTATE: {
+    switch (input) {
-    int angle;
+    case FORWARD: {
-    std::cout << "Enter angle to rotate: ";
+      int distance;
-    std::cin >> angle;
+      std::cout << "Enter distance to move forward: ";
-    robot.doRotation(angle);
+      std::cin >> distance;
-  } break;
+      robot.goStraight(distance);
+    } break;
 
-  default:
+    case ROTATE: {
-    cout << "Invalid input" << endl;
+      int angle;
-    break;
+      std::cout << "Enter angle to rotate: ";
+      std::cin >> angle;
+      robot.doRotation(angle);
+    } break;
+
+    default:
+      cout << "Invalid input" << endl;
+      break;
+    }
   }
-}
+}