Smikkelbakje/J2S1-Kobuki
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driver cleanup

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This commit is contained in:
Sam Hos
2024-11-26 13:32:14 +01:00
parent 508d2ed4e2
commit d26d277c3c
2 changed files with 0 additions and 97 deletions
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26
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
View File

@@ -509,32 +509,6 @@ void CKobuki::doRotation(long double th) {
usleep(25 * 1000); usleep(25 * 1000);
} }
// combines navigation to a coordinate and rotation by an angle, performs
// movement to the selected coordinate in the robot's coordinate system
void CKobuki::goToXy(long double xx, long double yy) {
long double th;
yy = yy * -1;
th = atan2(yy, xx);
doRotation(th);
long double s = sqrt(pow(xx, 2) + pow(yy, 2));
// resetnem suradnicovu sustavu robota
x = 0;
y = 0;
iterationCount = 0;
theta = 0;
// std::cout << "mam prejst: " << s << "[m]" << std::endl;
goStraight(s);
usleep(25 * 1000);
return;
}
/// @brief Makes the robot move forward for 3 seconds /// @brief Makes the robot move forward for 3 seconds
/// @param speedvalue How fast it will drive forward from 0 - 1024 /// @param speedvalue How fast it will drive forward from 0 - 1024
void CKobuki::forward(int speedvalue) { void CKobuki::forward(int speedvalue) {

71
src/C++/Driver/src/KobukiDriver/graph.h
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@@ -1,71 +0,0 @@
#ifndef GRAPH1010
#define GRAPH1010
#include <stdio.h>
#include <stdlib.h>
#include <vector>
using namespace std;
#define GRAPH_ENABLED true
class plot {
public:
FILE *gp;
bool enabled,persist;
plot(bool _persist=false,bool _enabled=GRAPH_ENABLED) {
enabled=_enabled;
persist=_persist;
if (enabled) {
if(persist)
gp=popen("gnuplot -persist","w");
else
gp=popen("gnuplot","w");
}
}
void plot_data(vector<float> x,const char* style="points",const char* title="Data") {
if(!enabled)
return;
fprintf(gp,"set title '%s' \n",title);
fprintf(gp,"plot '-' w %s \n",style);
for(int k=0;k<x.size();k++) {
fprintf(gp,"%f\n",x[k]);
}
fprintf(gp,"e\n");
fflush(gp);
}
void plot_data(vector<float> x,vector<float> y,const char* style="points",const char* title="Data") {
if(!enabled)
return;
fprintf(gp,"set title '%s' \n",title);
fprintf(gp,"plot '-' w %s \n",style);
for(int k=0;k<x.size();k++) {
fprintf(gp,"%f %f \n",x[k],y[k]);
}
fprintf(gp,"e\n");
fflush(gp);
}
~plot() {
if(enabled)
pclose(gp);
}
};
/*
int main(int argc,char **argv) {
plot p;
for(int a=0;a<100;a++) {
vector<float> x,y;
for(int k=a;k<a+200;k++) {
x.push_back(k);
y.push_back(k*k);
}
p.plot_data(x,y);
}
return 0;
}
*/
#endif