J2S1-Kobuki/src/C++/Driver/src/main.cpp

#include "CKobuki.h"
#include <iostream>
#include <cmath>
#include <thread>
#include "graph.h"

using namespace std;
CKobuki robot;
int movement();

int main()
{
	unsigned char *null_ptr(0);
	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
	usleep(1 * 1000 * 1000);
	cout << "Enter commando";
	thread mv(movement);
	usleep(30 * 1000 * 1000);
}

int checkCenterCliff()
{
	while (true)
	{
		std::cout << "cliffsensordata:" << robot.data.CliffSensorCenter << std::endl;
	}
}

int movement()
{
	int text;
	while (true)
	{
		cin >> text;

		if (text == 1)
		{
			robot.goStraight(1);
		}
		else if (text == 2)
		{
			// 1 is full circle
			robot.doRotation(0.25);
		}
		else if (text == 3)
		{
			// Add your code here for text == 3
		}
		else
		{
			try
			{
				robot.doRotation(text);
				throw "NaN";
			}
			catch (const char *msg)
			{
				cerr << msg << endl;
			}
		}
	}
}