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Update MovementwithKeyboard.cpp

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leondevdev 2022-12-20 11:42:17 +01:00 committed by GitHub
parent 249c6d1d5b
commit 8e435a14b1
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1 changed files with 145 additions and 66 deletions
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211
MovementwithKeyboard.cpp
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@ -1,11 +1,10 @@
#include <iostream>
#include <stdlib.h>
#include "rec/robotino/api2/all.h"
#include <iostream>
using namespace rec::robotino::api2;
using namespace std;
bool _run = true;
class MyCom : public Com
@ -56,10 +55,27 @@ public:
bool bumped;
};
double x_distance = 0;
double y_distance = 0;
double phi_absolute = 0;
unsigned int sequence = 0;
class MyOdometry: public Odometry{
void readingsEvent(double x,double y, double phi, float vx, float vy, float omega, unsigned int seq ){
cout << "X: " << x << " Y: " << y << " Richtung: " << phi << " Sequenz: " << seq << endl;
x_distance = x;
y_distance = y;
phi_absolute = phi;
sequence = seq;
}
};
MyCom com;
Bumper bumper;
MyBumper bumper;
OmniDrive omniDrive;
MyOdometry odo;
void init( const std::string& hostname )
{
@ -82,79 +98,144 @@ void init( const std::string& hostname )
}
}
bool DriveorRotate = true; //TRUE == FAHRENB
void rotateLeft(){
int Rotation = 0;
int turning = 0;
cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
cin >> Rotation;
if (0 <= Rotation){
turning = 1;
}
while (1 == turning){
com.processEvents();
omniDrive.setVelocity(0, 0, -0.4);
cout << phi_absolute;
rec::robotino::api2::msleep(100);
// cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
if (Rotation <= phi_absolute){
turning = 0;
}
}
com.processComEvents();
}
void rotateRight(){
int Rotation = 0;
int turning = 0;
cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
cin >> Rotation;
if (0 <= Rotation){
turning = 1;
}
while (1 == turning){
com.processEvents();
omniDrive.setVelocity(0, 0, 0.4);
cout << phi_absolute;
rec::robotino::api2::msleep(100);
// cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
if (Rotation <= phi_absolute){
turning = 0;
}
}
com.processComEvents();
}
void drive()
{
// Straight = 0, Backwards = 1, RightTop = 2, Right = 3, BottomRight = 4, BottomLeft = 5, Left = 6, TopLeft = 7
char w;
odo.set(0,0,0,-1);
while( com.isConnected() && false == bumper.value() && _run )
{
com.processEvents();
//TODO: your code here
rec::robotino::api2::msleep(100);
//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 );
system("stty raw");
w = getchar();
// terminate when "." is pressed
system("stty cooked");
system("clear");
std::cout << w << " was pressed."<< std::endl;
if (w == 'w'){
omniDrive.setVelocity(0.2, 0, 0);
}
if (w == 'a'){
omniDrive.setVelocity(0, -0.2, 0);
}
if (w == 's'){
omniDrive.setVelocity(-0.2, 0, 0);
}
if (w == 'd'){
omniDrive.setVelocity(0, 0.2, 0);
}
if (w == 'r'){
rotateRight();
}
if (w == 'q'){
rotateLeft();
}
if(w == '.') {
system("stty cooked");
exit(0);
}
}
InputDrive();
com.processEvents();
rec::robotino::api2::msleep(10);
}
}
void destroy()
{
com.disconnectFromServer();
@ -168,10 +249,7 @@ int main( int argc, char **argv )
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
@ -203,3 +281,4 @@ int main( int argc, char **argv )
rec::robotino::api2::waitForKey();
#endif
}