Smikkelbakje/J2S1-Kobuki
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changed function

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ishak jmilou.ishak
2025-01-14 16:50:11 +01:00
parent d8b3ec2938
commit 8b66702605
1 changed files with 5 additions and 8 deletions
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13
src/C++/Driver/src/main.cpp
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@@ -33,16 +33,13 @@ void setup()
void checkKobukiConnection() { void checkKobukiConnection() {
while (true) { while (true) {
bool connected = robot.isConnected(); bool connected = robot.isConnected();
if (connected && !kobuki_connected) { if (!connected && kobuki_connected) {
cout << "Kobuki is connected" << endl;
kobuki_connected = true;
// Start de Kobuki automatisch
robot.startCommunication("/dev/ttyUSB0", true, nullptr);
} else if (!connected && kobuki_connected) {
cout << "Kobuki is disconnected" << endl; cout << "Kobuki is disconnected" << endl;
kobuki_connected = false; kobuki_connected = false;
// Stop de Kobuki automatisch } else if (connected && !kobuki_connected) {
robot.sendNullMessage(); cout << "Kobuki is connecting..." << endl;
// Start de Kobuki automatisch
robot.startCommunication("/dev/ttyUSB0", true, nullptr);
} }
std::this_thread::sleep_for(std::chrono::seconds(5)); // Controleer elke 5 seconden std::this_thread::sleep_for(std::chrono::seconds(5)); // Controleer elke 5 seconden
} }