From a1d36496194caed2964f01b242cc292c16f921cb Mon Sep 17 00:00:00 2001 From: "ishak jmilou.ishak" Date: Tue, 8 Oct 2024 11:49:54 +0200 Subject: [PATCH] tsting command --- src/C++/Driver/src/test.cpp | 39 ++++++++++++++++++++----------------- 1 file changed, 21 insertions(+), 18 deletions(-) diff --git a/src/C++/Driver/src/test.cpp b/src/C++/Driver/src/test.cpp index 9609b6b..d5b395b 100644 --- a/src/C++/Driver/src/test.cpp +++ b/src/C++/Driver/src/test.cpp @@ -8,12 +8,14 @@ using namespace std; CKobuki robot; int command(); +const int forward = 1; +const int ROTATE = 2; + 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 @@ -23,38 +25,39 @@ int checkCenterCliff() { while (true) { - std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl; + std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl; } } int checkWheelDrop(){ while (true) { - std::cout << "wheeldropdata:" << robot.data.WheelDropLeft << std::endl; + std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl; } } int command(){ - int input; - + cout << "choose between forward and rotate" << endl; + cout << "What must the robot do?"; cin >> input; switch(input){ - case 1: - robot.goStraight(1); - robot.doRotation(90); - robot.forward(1024, -1); + case forward:{ + int distance; + std::cout >> "Enter distance to move forward: "; + std::cin >> distance; + robot.goStraight(distance); + } + + case ROTATE:{ + int angle; + std::cout >> "Enter angle to rotate: "; + std::cin >> angle; + robot.doRotation(angle); + } robot.goStraight(-1); break; - case 2: - robot.doRotation(90); - break; - case 3: - robot.doRotation(-90); - break; - case 4: - robot.forward(1024, -1); - break; + default: cout << "Invalid input" << endl; break;