Smikkelbakje/J2S1-Kobuki
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cleanup

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This commit is contained in:
Sam Hos
2024-12-11 14:38:12 +01:00
parent ec3e83ef7f
commit c65f310e81
1 changed files with 3 additions and 5 deletions
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8
src/C++/Driver/src/main.cpp
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@@ -30,9 +30,6 @@ void setup()
int main() int main()
{ {
// Unset the http_proxy environment variable
setup(); setup();
std::thread image (CapnSend); std::thread image (CapnSend);
std::thread safety([&]() { robot.robotSafety(&message); }); std::thread safety([&]() { robot.robotSafety(&message); });
@@ -41,6 +38,7 @@ int main()
while(true){ while(true){
parseMQTT(readMQTT()); parseMQTT(readMQTT());
} }
sendMqtt.join(); sendMqtt.join();
safety.join(); safety.join();
image.join(); image.join();
@@ -63,7 +61,7 @@ void parseMQTT(std::string message)
{ {
if (message == "up") if (message == "up")
{ {
robot.forward(1024); robot.forward(350);
} }
else if (message == "left") else if (message == "left")
{ {
@@ -75,7 +73,7 @@ void parseMQTT(std::string message)
} }
else if (message == "down") else if (message == "down")
{ {
robot.forward(-800); robot.forward(-350);
} }
else if (message == "stop") else if (message == "stop")
{ {