Create MovementwithKeyboard.cpp

MovementwithKeyboard.cpp

@@ -0,0 +1,205 @@
+
+#include <iostream>
+#include <stdlib.h>
+
+#include "rec/robotino/api2/all.h"
+
+using namespace rec::robotino::api2;
+
+bool _run = true;
+
+class MyCom : public Com
+{
+public:
+	MyCom()
+		: Com( "example_wallfollow" )
+	{
+	}
+
+	void errorEvent( const char* errorString )
+	{
+		std::cerr << "Error: " << errorString << std::endl;
+	}
+
+	void connectedEvent()
+	{
+		std::cout << "Connected." << std::endl;
+	}
+
+	void connectionClosedEvent()
+	{
+		std::cout << "Connection closed." << std::endl;
+	}
+
+	void logEvent( const char* message, int level )
+	{
+		std::cout << message << std::endl;
+	}
+};
+
+class MyBumper : public Bumper
+{
+public:
+	MyBumper()
+		: bumped( false )
+	{
+	}
+
+	void bumperEvent( bool hasContact )
+	{
+		bumped |= hasContact;
+    if (true == bumped){
+      std::cout << "Bumper has " << ( hasContact ? "contact" : "no contact") << std::endl;
+    }
+	}
+
+	bool bumped;
+};
+
+
+MyCom com;
+Bumper bumper;
+OmniDrive omniDrive;
+
+void init( const std::string& hostname )
+{
+
+	// Connect
+	std::cout << "Connecting...";
+	com.setAddress( hostname.c_str() );
+
+	com.connectToServer( true );
+
+	if( false == com.isConnected() )
+	{
+		std::cout << std::endl << "Could not connect to " << com.address() << std::endl;
+		rec::robotino::api2::shutdown();
+		exit( 1 );
+	}
+	else
+	{
+		std::cout << "success" << std::endl;
+	}
+}
+
+void drive()
+{
+	while( com.isConnected() && false == bumper.value() && _run )
+	{
+    com.processEvents();
+		//TODO: your code here
+		//omniDrive.setVelocity( xspeed, yspeed, rotspeed );
+		// void setVelocity(float 1.0, float 0, float 0)
+		//com.processEvents();
+		//rec::robotino::api2::msleep( 100 );
+    // void setVelocity(float -1.0, float 0, float 0)
+    // com.processEvents();
+		// rec::robotino::api2::msleep( 100 );
+    //void setVelocity(float 0, float 1.0, float 0)
+    // com.processEvents();
+		// rec::robotino::api2::msleep( 100 );
+    // void setVelocity(float 0, float -1.0, float 0)
+		// com.processEvents();
+		// rec::robotino::api2::msleep( 100 );
+
+
+    // FAHREN MIT TASTEN!!
+	
+    void InputDrive(){
+	  char InputButton = ' ';
+
+	  com.processEvents();
+
+
+      if (InputButton == 'W'){
+		void setVelocity(float 1.0, float 0, float 0)
+        com.processEvents();
+        rec::robotino::api2::msleep( 100 );
+        InputDrive();
+    }
+
+      if (InputButton == 'S'){
+		void setVelocity(float -1.0, float 0, float 0)
+        com.processEvents();
+        rec::robotino::api2::msleep( 100 );
+        InputDrive();
+    }
+
+
+      if (InputButton == 'A'){
+		void setVelocity(float 0, float -1.0, float 0)
+        com.processEvents();
+        rec::robotino::api2::msleep( 100 );
+        InputDrive();
+    }
+
+      if (InputButton == 'D'){
+		void setVelocity(float 0, float 1.0, float 0)
+        com.processEvents();
+        rec::robotino::api2::msleep( 100 );
+        InputDrive();
+    }
+
+  
+
+
+
+		com.processEvents();
+		rec::robotino::api2::msleep( 100 );
+
+
+
+    }
+		InputDrive();
+
+	}
+}
+
+void destroy()
+{
+	com.disconnectFromServer();
+}
+
+int main( int argc, char **argv )
+{
+	std::string hostname = "172.27.1.1";
+	if( argc > 1 )
+	{
+		hostname = argv[1];
+	}
+
+	struct sigaction act;
+	memset( &act, 0, sizeof( act ) );
+	act.sa_handler = sigint_handler;
+	sigaction( SIGINT, &act, NULL );
+
+	//main program routine starts in here
+	try
+	{
+		//connect to your robotino (or try at least)
+		init( hostname );
+		//drive (this contains a while loop)
+		drive();
+		//exit
+		destroy();
+	}
+	catch( const rec::robotino::api2::RobotinoException& e )
+	{
+		std::cerr << "Com Error: " << e.what() << std::endl;
+	}
+	catch( const std::exception& e )
+	{
+		std::cerr << "Error: " << e.what() << std::endl;
+	}
+	catch( ... )
+	{
+		std::cerr << "Unknow Error" << std::endl;
+	}
+
+	rec::robotino::api2::shutdown();
+
+#ifdef WIN32
+	std::cout << "Press any key to exit..." << std::endl;
+	rec::robotino::api2::waitForKey();
+#endif
+}