From bc0b6946f7b0b01bc7ea15cb2e397d1b76edcca3 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Mon, 23 Sep 2024 11:40:46 +0200
Subject: [PATCH] testing

---
 src/C++/Driver/src/CKobuki.cpp |  2 +-
 src/C++/Driver/src/main.cpp    | 13 ++++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp
index 8010067..9e78b91 100755
--- a/src/C++/Driver/src/CKobuki.cpp
+++ b/src/C++/Driver/src/CKobuki.cpp
@@ -263,7 +263,7 @@ int CKobuki::measure()
         unsigned char *message = readKobukiMessage();
         if (message == NULL)
         {
-            printf("vratil null message\n");
+            // printf("vratil null message\n");
             continue;
         }
         int ok=parseKobukiMessage(data,message);
diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index b36e98c..ad06838 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -5,18 +5,25 @@
 #include "graph.h"
 
 using namespace std;
+CKobuki robot;
 
 int main() {
 	unsigned char * null_ptr(0);
-	CKobuki robot;
 
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
 	usleep(1*1000*1000);
 
-	robot.goStraight(10);
-
+	robot.goStraight(1);
+	
 
 
 
 	usleep(30*1000*1000);
 }
+
+
+int checkCenterCliff() {
+	while(true) {
+    std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;
+	}
+}
\ No newline at end of file