bumpers.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;

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

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

      // 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();
    }

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

    // Print signals from left to right
    std::cout << "[ " << light_signals[0] << " , "
                      << light_signals[1] << " , "
                      << light_signals[2] << " , "
                      << light_signals[3] << " , "
                      << light_signals[4] << " , "
                      << light_signals[5]
              << " ]" << std::endl;
    std::cout << "[ " << light_bumpers[0] << " , "
                      << light_bumpers[1] << " , "
                      << light_bumpers[2] << " , "
                      << light_bumpers[3] << " , "
                      << light_bumpers[4] << " , "
                      << light_bumpers[5]
              << " ]" << std::endl;
    std::cout << "[ " << contact_bumpers[0] << " , "
                      << contact_bumpers[1]
              << " ]" << std::endl;
    std::cout << std::endl;

    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;
}