Smikkelbakje/J2S1-Kobuki
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test in another branch

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This commit is contained in:
ishak jmilou.ishak
2024-10-08 12:25:08 +02:00
parent 49dec386d7
commit ee7099654e
1 changed files with 39 additions and 40 deletions
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73
src/C++/Driver/src/test.cpp
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@@ -1,8 +1,8 @@
#include "CKobuki.h" #include "CKobuki.h"
#include <iostream>
#include <cmath>
#include <thread>
#include "graph.h" #include "graph.h"
#include <cmath>
#include <iostream>
#include <thread>
using namespace std; using namespace std;
CKobuki robot; CKobuki robot;
@@ -11,57 +11,56 @@ int command();
const int forward = 1; const int forward = 1;
const int ROTATE = 2; const int ROTATE = 2;
int main() int main() {
{ unsigned char *null_ptr(0);
unsigned char *null_ptr(0); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); usleep(1 * 1000 * 1000);
usleep(1 * 1000 * 1000); thread mv(command);
thread mv(command); usleep(30 * 1000 * 1000);
usleep(30 * 1000 * 1000); mv.join(); // only exit once thread one is done running
mv.join(); //only exit once thread one is done running
} }
// int checkCenterCliff() // int checkCenterCliff()
// { // {
// while (true) // while (true)
// { // {
// std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl; // std::cout << "cliffsensordata:" <<
// robot.parser.data.CliffSensorCenter << std::endl;
// } // }
// } // }
// int checkWheelDrop(){ // int checkWheelDrop(){
// while (true) // while (true)
// { // {
// std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl; // std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft
// << std::endl;
// } // }
// } // }
int command(){ int command() {
cout << "choose between forward and rotate" << endl; std::cout << "choose between forward and rotate" << endl;
cout << "What must the robot do?"; std::cout << "What must the robot do?";
cin >> input; cin >> input;
switch(input){ switch (input) {
case forward:{ case forward: {
int distance; int distance;
std::cout >> "Enter distance to move forward: "; std::cout >> "Enter distance to move forward: ";
std::cin >> distance; std::cin >> distance;
robot.goStraight(distance); robot.goStraight(distance);
} } break;
case ROTATE:{ case ROTATE: {
int angle; int angle;
std::cout >> "Enter angle to rotate: "; std::cout >> "Enter angle to rotate: ";
std::cin >> angle; std::cin >> angle;
robot.doRotation(angle); robot.doRotation(angle);
} robot.goStraight(-1);
robot.goStraight(-1);
break;
default: } break;
cout << "Invalid input" << endl;
break;
}
default:
cout << "Invalid input" << endl;
break;
}
} }