Smikkelbakje/J2S1-Kobuki
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put movement in its own function

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This commit is contained in:
Sam Hos
2024-09-23 13:54:07 +02:00
parent 0db8ab3e2f
commit efa0692128
1 changed files with 40 additions and 24 deletions
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54
src/C++/Driver/src/main.cpp
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@@ -1,37 +1,53 @@
#include "CKobuki.h" #include "CKobuki.h"
#include <iostream> #include <iostream>
#include <cmath> #include <cmath>
#include <thread>
#include "graph.h" #include "graph.h"
using namespace std; using namespace std;
CKobuki robot; CKobuki robot;
int movement();
int main() { int main()
{
unsigned char *null_ptr(0); unsigned char *null_ptr(0);
int text;
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
usleep(1 * 1000 * 1000); usleep(1 * 1000 * 1000);
cout << "Enter commando"; cout << "Enter commando";
cin >> text;
if (text == 1) {
robot.goStraight(10);
}
if (text == 2) {
robot.doRotation(90);
}
if (text == 3) {
robot.doRotation(90);
}
else {
cout << "no text specified";
}
usleep(30 * 1000 * 1000); usleep(30 * 1000 * 1000);
thread mv(movement);
} }
int checkCenterCliff() { int checkCenterCliff()
while(true) { {
while (true)
{
std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl; std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;
} }
} }
int movement()
{
int text;
while (true)
{
cin >> text;
if (text == 1)
{
robot.goStraight(10);
}
if (text == 2)
{
robot.doRotation(90);
}
if (text == 3)
{
robot.doRotation(90);
}
else
{
cout << "no text specified";
}
}
}