battery_level.cpp
Go to the documentation of this file.
1 
31 #include "create/create.h"
32 
33 #include <iostream>
34 
35 int main(int argc, char** argv) {
36  // Select robot. Assume Create 2 unless argument says otherwise
38  std::string port = "/dev/ttyUSB0";
39  int baud = 115200;
40  if (argc > 1 && std::string(argv[1]) == "create1") {
42  baud = 57600;
43  std::cout << "Running driver for Create 1" << std::endl;
44  }
45  else {
46  std::cout << "Running driver for Create 2" << std::endl;
47  }
48 
49  // Construct robot object
50  create::Create robot(model);
51 
52  // Connect to robot
53  if (robot.connect(port, baud))
54  std::cout << "Connected to robot" << std::endl;
55  else {
56  std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
57  return 1;
58  }
59 
60  // Switch to Full mode
62 
63  // Get battery capacity (max charge)
64  const float battery_capacity = robot.getBatteryCapacity();
65 
66  float battery_charge = 0.0f;
67  while (true) {
68  // Get battery charge
69  battery_charge = robot.getBatteryCharge();
70 
71  // Print battery percentage
72  std::cout << "\rBattery level: " << (battery_charge / battery_capacity) * 100.0 << "%";
73 
74  usleep(100000); // 10 Hz
75  }
76 
77  return 0;
78 }
static RobotModel CREATE_1
Compatible with Create 1 or Roomba 500 series.
Definition: types.h:68
float getBatteryCharge() const
Get battery&#39;s remaining charge.
Definition: create.cpp:888
int main(int argc, char **argv)
float getBatteryCapacity() const
Get estimated battery charge capacity.
Definition: create.cpp:898
bool connect(const std::string &port, const int &baud)
Make a serial connection to Create.
Definition: create.cpp:269
static RobotModel CREATE_2
Compatible with Create 2 or Roomba 600 series and greater.
Definition: types.h:73
bool setMode(const create::CreateMode &mode)
Change Create mode.
Definition: create.cpp:301


libcreate
Author(s): Jacob Perron
autogenerated on Sat Jan 2 2021 04:00:49