Smikkelbakje/J2S1-Kobuki
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testing

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This commit is contained in:
Sam Hos
2024-09-23 11:40:46 +02:00
parent 90057414a4
commit bc0b6946f7
2 changed files with 11 additions and 4 deletions
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2
src/C++/Driver/src/CKobuki.cpp
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@@ -263,7 +263,7 @@ int CKobuki::measure()
unsigned char *message = readKobukiMessage(); unsigned char *message = readKobukiMessage();
if (message == NULL) if (message == NULL)
{ {
printf("vratil null message\n"); // printf("vratil null message\n");
continue; continue;
} }
int ok=parseKobukiMessage(data,message); int ok=parseKobukiMessage(data,message);

11
src/C++/Driver/src/main.cpp
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@@ -5,18 +5,25 @@
#include "graph.h" #include "graph.h"
using namespace std; using namespace std;
CKobuki robot;
int main() { int main() {
unsigned char * null_ptr(0); unsigned char * null_ptr(0);
CKobuki robot;
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
usleep(1*1000*1000); usleep(1*1000*1000);
robot.goStraight(10); robot.goStraight(1);
usleep(30*1000*1000); usleep(30*1000*1000);
} }
int checkCenterCliff() {
while(true) {
std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;
}
}