mirror of
https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-04 04:14:58 +00:00
tsting command
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@@ -8,12 +8,14 @@ using namespace std;
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CKobuki robot;
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CKobuki robot;
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int command();
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int command();
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const int forward = 1;
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const int ROTATE = 2;
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int main()
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int main()
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{
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{
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unsigned char *null_ptr(0);
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unsigned char *null_ptr(0);
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robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
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robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
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usleep(1 * 1000 * 1000);
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usleep(1 * 1000 * 1000);
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cout << "Enter commando: ";
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thread mv(command);
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thread mv(command);
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usleep(30 * 1000 * 1000);
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usleep(30 * 1000 * 1000);
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mv.join(); //only exit once thread one is done running
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mv.join(); //only exit once thread one is done running
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@@ -23,38 +25,39 @@ int checkCenterCliff()
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{
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{
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while (true)
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while (true)
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{
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{
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std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;
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std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl;
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}
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}
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}
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}
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int checkWheelDrop(){
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int checkWheelDrop(){
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while (true)
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while (true)
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{
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{
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std::cout << "wheeldropdata:" << robot.data.WheelDropLeft << std::endl;
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std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl;
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}
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}
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}
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}
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int command(){
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int command(){
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int input;
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cout << "choose between forward and rotate" << endl;
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cout << "What must the robot do?";
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cin >> input;
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cin >> input;
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switch(input){
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switch(input){
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case 1:
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case forward:{
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robot.goStraight(1);
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int distance;
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robot.doRotation(90);
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std::cout >> "Enter distance to move forward: ";
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robot.forward(1024, -1);
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std::cin >> distance;
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robot.goStraight(distance);
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}
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case ROTATE:{
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int angle;
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std::cout >> "Enter angle to rotate: ";
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std::cin >> angle;
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robot.doRotation(angle);
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}
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robot.goStraight(-1);
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robot.goStraight(-1);
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break;
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break;
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case 2:
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robot.doRotation(90);
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break;
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case 3:
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robot.doRotation(-90);
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break;
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case 4:
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robot.forward(1024, -1);
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break;
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default:
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default:
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cout << "Invalid input" << endl;
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cout << "Invalid input" << endl;
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break;
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break;
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