testing

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);

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;
+	}
+}