cliffs.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(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);

  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();

    // Print status
    std::cout << "\rCliffs (left to right): [ " <<
      cliff_left <<
      ", " <<
      cliff_front_left <<
      ", " <<
      cliff_front_right <<
      ", " <<
      cliff_right <<
      " ]";

    usleep(10000);  // 10 Hz
  }

  return 0;
}