Smikkelbakje/J2S1-Kobuki
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Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

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This commit is contained in:
ishak jmilou.ishak
2024-11-04 12:14:43 +01:00
parent 99676cc83a d09352861f
commit 85d54f8422
1 changed files with 8 additions and 5 deletions
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13
src/C++/Driver/src/main.cpp
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@@ -23,10 +23,8 @@ void setup(){
int main(){
setup();
client.run();
while(true){
parseMQTT(readMQTT());
cout << readMQTT() << endl; //debugging
}
return 0;
}
@@ -37,9 +35,7 @@ std::string readMQTT()
if (!message.empty()) {
std::cout << "MQTT Message: " << message << std::endl;
}
else {
std::cout << "No message received" << std::endl;
}
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message;
@@ -48,12 +44,19 @@ std::string readMQTT()
void parseMQTT(std::string message){
if(message == "up"){
robot.forward(600);
message = 0;
}
else if(message == "left"){
robot.Rotate(90);
message = 0;
}
else if(message == "down"){
robot.Rotate(-90);
message = 0;
}
else if(message = 0){
robot.sendNullMessage();
}
else{
std::cout << "Invalid command" << std::endl;