testing controls

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

@@ -0,0 +1,52 @@
+#include "CKobuki.h"
+#include "errno.h"
+#include "termios.h"
+#include <cstddef>
+#include <iostream> 
+
+// define for the commands
+#define turnRight robot.doRotation(0.25)
+#define turnLeft robot.doRotation(-0.25)
+#define straight robot.forward(1024, 2)
+#define backwards robot.forward(1024, -1)
+
+using namespace std;
+CKobuki robot;
+int command();
+
+int main()
+{
+	unsigned char *null_ptr(0);
+	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+	usleep(1 * 1000 * 1000);
+	cout << "Enter commando";
+	thread mv(command);
+	usleep(30 * 1000 * 1000);
+	mv.join(); //only exit once thread one is done running
+}
+
+int command(){
+	int input;
+
+	cin >> input;
+
+	switch(input){
+		case 1:
+			straight;
+			break;
+		case 2:
+			turnRight;
+			break;
+		case 3:
+			turnLeft;
+			break;
+		case 4:
+			backwards;
+			break;
+		default:
+			cout << "Invalid input" << endl;
+			break;
+	}
+	
+}
+