change camera

src/C++/Driver/src/main.cpp

@@ -30,9 +30,6 @@ void setup()
 
 int main()
 {
-    // Unset the http_proxy environment variable
-
-
     setup();
     std::thread image (CapnSend);
     std::thread safety([&]() { robot.robotSafety(&message); });
@@ -41,6 +38,7 @@ int main()
     while(true){
         parseMQTT(readMQTT());
     }
+
     sendMqtt.join();
     safety.join();
     image.join();
@@ -63,7 +61,7 @@ void parseMQTT(std::string message)
 {
     if (message == "up")
     {
-        robot.forward(1024);
+        robot.forward(350);
     }
     else if (message == "left")
     {
@@ -75,7 +73,7 @@ void parseMQTT(std::string message)
     }
     else if (message == "down")
     {
-        robot.forward(-800);
+        robot.forward(-350);
     }
     else if (message == "stop")
     {
@@ -283,9 +281,8 @@ void sendKobukiData(TKobukiData &data) {
     }
 }
 
-
 void CapnSend() {
-    VideoCapture cap(1); // Open the default camera
+    VideoCapture cap("/dev/media3");
     if (!cap.isOpened()) {
         cerr << "Error: Could not open camera" << endl;
         return;
@@ -305,8 +302,9 @@ void CapnSend() {
         auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
 
         // Publish the image data
-        client.publishMessage("kobuki/cam-", string(enc_msg, enc_msg + buf.size()));
+        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
         cout << "Sent image" << endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(400)); // Send image every 1000ms
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Send image every 1000ms
     }
 }