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Merged
jacobperron merged 1 commit into from
Sep 2, 2019
Merged

Cleanup examples #54

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23 changes: 6 additions & 17 deletions examples/battery_level.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,43 +47,32 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud))
if (robot.connect(port, baud))
std::cout << "Connected to robot" << std::endl;
else {
std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
return 1;
}

// Switch to Full mode
robot->setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);

// Get battery capacity (max charge)
const float battery_capacity = robot->getBatteryCapacity();
const float battery_capacity = robot.getBatteryCapacity();

float battery_charge = 0.0f;
while (!robot->isCleanButtonPressed()) {
while (true) {
// Get battery charge
battery_charge = robot->getBatteryCharge();
battery_charge = robot.getBatteryCharge();

// Print battery percentage
std::cout << "\rBattery level: " << (battery_charge / battery_capacity) * 100.0 << "%";

usleep(100000); // 10 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();

// Clean up
delete robot;

std::cout << "Bye!" << std::endl;
return 0;
}
47 changes: 18 additions & 29 deletions examples/bumpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,48 +47,46 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud))
if (robot.connect(port, baud))
std::cout << "Connected to robot" << std::endl;
else {
std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
return 1;
}

// Switch to Full mode
robot->setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);

uint16_t light_signals[6];
bool light_bumpers[6];
bool contact_bumpers[2];

while (!robot->isCleanButtonPressed()) {
while (true) {
// Get light sensor data (only available for Create 2 or later robots)
if (model == create::RobotModel::CREATE_2) {
// Get raw light signal values
light_signals[0] = robot->getLightSignalLeft();
light_signals[1] = robot->getLightSignalFrontLeft();
light_signals[2] = robot->getLightSignalCenterLeft();
light_signals[3] = robot->getLightSignalCenterRight();
light_signals[4] = robot->getLightSignalFrontRight();
light_signals[5] = robot->getLightSignalRight();
light_signals[0] = robot.getLightSignalLeft();
light_signals[1] = robot.getLightSignalFrontLeft();
light_signals[2] = robot.getLightSignalCenterLeft();
light_signals[3] = robot.getLightSignalCenterRight();
light_signals[4] = robot.getLightSignalFrontRight();
light_signals[5] = robot.getLightSignalRight();

// Get obstacle data from light sensors (true/false)
light_bumpers[0] = robot->isLightBumperLeft();
light_bumpers[1] = robot->isLightBumperFrontLeft();
light_bumpers[2] = robot->isLightBumperCenterLeft();
light_bumpers[3] = robot->isLightBumperCenterRight();
light_bumpers[4] = robot->isLightBumperFrontRight();
light_bumpers[5] = robot->isLightBumperRight();
light_bumpers[0] = robot.isLightBumperLeft();
light_bumpers[1] = robot.isLightBumperFrontLeft();
light_bumpers[2] = robot.isLightBumperCenterLeft();
light_bumpers[3] = robot.isLightBumperCenterRight();
light_bumpers[4] = robot.isLightBumperFrontRight();
light_bumpers[5] = robot.isLightBumperRight();
}

// Get state of bumpers
contact_bumpers[0] = robot->isLeftBumper();
contact_bumpers[1] = robot->isRightBumper();
contact_bumpers[0] = robot.isLeftBumper();
contact_bumpers[1] = robot.isRightBumper();

// Print signals from left to right
std::cout << "[ " << light_signals[0] << " , "
Expand All @@ -113,14 +111,5 @@ int main(int argc, char** argv) {
usleep(100000); // 10 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();

// Clean up
delete robot;

std::cout << "Bye!" << std::endl;
return 0;
}
26 changes: 8 additions & 18 deletions examples/cliffs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,10 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud)) {
if (robot.connect(port, baud)) {
std::cout << "Connected to robot" << std::endl;
}
else {
Expand All @@ -59,16 +59,14 @@ int main(int argc, char** argv) {
}

// Switch to Full mode
robot->setMode(create::MODE_FULL);
robot.setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;

while (!robot->isCleanButtonPressed()) {
while (true) {
// Get cliff status
const bool cliff_left = robot->isCliffLeft();
const bool cliff_front_left = robot->isCliffFrontLeft();
const bool cliff_front_right = robot->isCliffFrontRight();
const bool cliff_right = robot->isCliffRight();
const bool cliff_left = robot.isCliffLeft();
const bool cliff_front_left = robot.isCliffFrontLeft();
const bool cliff_front_right = robot.isCliffFrontRight();
const bool cliff_right = robot.isCliffRight();

// Print status
std::cout << "\rCliffs (left to right): [ " <<
Expand All @@ -84,13 +82,5 @@ int main(int argc, char** argv) {
usleep(10000); // 10 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();

// Clean up
delete robot;

return 0;
}
24 changes: 6 additions & 18 deletions examples/drive_circle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,46 +48,34 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud))
if (robot.connect(port, baud))
std::cout << "Connected to robot" << std::endl;
else {
std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
return 1;
}

// Switch to Full mode
robot->setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);

// There's a delay between switching modes and when the robot will accept drive commands
usleep(100000);

// Command robot to drive a radius of 0.15 metres at 0.2 m/s
robot->driveRadius(0.2, 0.15);
robot.driveRadius(0.2, 0.15);

while (!robot->isCleanButtonPressed()) {
while (true) {
// Get robot odometry and print
const create::Pose pose = robot->getPose();
const create::Pose pose = robot.getPose();

std::cout << std::fixed << std::setprecision(2) << "\rOdometry (x, y, yaw): ("
<< pose.x << ", " << pose.y << ", " << pose.yaw << ") ";

usleep(10000); // 10 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
// Also, this consequently stops the robot from moving
robot->disconnect();

// Clean up
delete robot;

std::cout << "Bye!" << std::endl;
return 0;
}
33 changes: 11 additions & 22 deletions examples/leds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,40 +47,38 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud))
if (robot.connect(port, baud))
std::cout << "Connected to robot" << std::endl;
else {
std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
return 1;
}

// Switch to Full mode
robot->setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
robot.setMode(create::MODE_FULL);

bool enable_check_robot_led = true;
bool enable_debris_led = false;
bool enable_dock_led = true;
bool enable_spot_led = false;
uint8_t power_led = 0;
uint8_t power_led = 0;
char digit_buffer[5];

while (!robot->isCleanButtonPressed()) {
while (true) {
// Set LEDs
robot->enableCheckRobotLED(enable_check_robot_led);
robot->enableDebrisLED(enable_debris_led);
robot->enableDockLED(enable_dock_led);
robot->enableSpotLED(enable_spot_led);
robot->setPowerLED(power_led);
robot.enableCheckRobotLED(enable_check_robot_led);
robot.enableDebrisLED(enable_debris_led);
robot.enableDockLED(enable_dock_led);
robot.enableSpotLED(enable_spot_led);
robot.setPowerLED(power_led);

// Set 7-segment displays
const int len = sprintf(digit_buffer, "%d", power_led);
for (int i = len; i < 4; i++) digit_buffer[i] = ' ';
robot->setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
robot.setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);

// Update LED values
enable_check_robot_led = !enable_check_robot_led;
Expand All @@ -92,14 +90,5 @@ int main(int argc, char** argv) {
usleep(250000); // 5 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();

// Clean up
delete robot;

std::cout << "Bye!" << std::endl;
return 0;
}
24 changes: 5 additions & 19 deletions examples/packets.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,40 +47,26 @@ int main(int argc, char** argv) {
}

// Construct robot object
create::Create* robot = new create::Create(model);
create::Create robot(model);

// Connect to robot
if (robot->connect(port, baud))
if (robot.connect(port, baud))
std::cout << "Connected to robot" << std::endl;
else {
std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
return 1;
}

// Switch to Full mode
// robot->setMode(create::MODE_FULL);

std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;

while (!robot->isCleanButtonPressed()) {
while (true) {
// Get serial packet statistics
const uint64_t total_packets = robot->getTotalPackets();
const uint64_t num_corrupt_packets = robot->getNumCorruptPackets();
const uint64_t total_packets = robot.getTotalPackets();
const uint64_t num_corrupt_packets = robot.getNumCorruptPackets();

// Print packet stats
std::cout << "\rTotal packets: " << total_packets << " Corrupt packets: " << num_corrupt_packets;

usleep(100000); // 10 Hz
}

std::cout << std::endl;

// Call disconnect to avoid leaving robot in Full mode
robot->disconnect();

// Clean up
delete robot;

std::cout << "Bye!" << std::endl;
return 0;
}
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