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(){ int main(){
setup(); setup();
client.run();
while(true){ while(true){
parseMQTT(readMQTT()); parseMQTT(readMQTT());
cout << readMQTT() << endl; //debugging
} }
return 0; return 0;
} }
@@ -37,9 +35,7 @@ std::string readMQTT()
if (!message.empty()) { if (!message.empty()) {
std::cout << "MQTT Message: " << message << std::endl; std::cout << "MQTT Message: " << message << std::endl;
} }
else {
std::cout << "No message received" << std::endl;
}
// Add a small delay to avoid busy-waiting // Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100)); std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message; return message;
@@ -48,12 +44,19 @@ std::string readMQTT()
void parseMQTT(std::string message){ void parseMQTT(std::string message){
if(message == "up"){ if(message == "up"){
robot.forward(600); robot.forward(600);
message = 0;
} }
else if(message == "left"){ else if(message == "left"){
robot.Rotate(90); robot.Rotate(90);
message = 0;
} }
else if(message == "down"){ else if(message == "down"){
robot.Rotate(-90); robot.Rotate(-90);
message = 0;
}
else if(message = 0){
robot.sendNullMessage();
} }
else{ else{
std::cout << "Invalid command" << std::endl; std::cout << "Invalid command" << std::endl;