leds.cpp

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#include "create/create.h"

#include <iostream>

int main(int argc, char** argv) {
  // Select robot. Assume Create 2 unless argument says otherwise
  create::RobotModel model = create::RobotModel::CREATE_2;
  std::string port = "/dev/ttyUSB0";
  int baud = 115200;
  if (argc > 1 && std::string(argv[1]) == "create1") {
    model = create::RobotModel::CREATE_1;
    baud = 57600;
    std::cout << "Running driver for Create 1" << std::endl;
  }
  else {
    std::cout << "Running driver for Create 2" << std::endl;
  }

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

  // Connect to robot
  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;

  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; 
  char digit_buffer[5];

  while (!robot->isCleanButtonPressed()) {
    // 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);

    // 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]);

    // Update LED values
    enable_check_robot_led = !enable_check_robot_led;
    enable_debris_led = !enable_debris_led;
    enable_dock_led = !enable_dock_led;
    enable_spot_led = !enable_spot_led;
    power_led++;

    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;
}