int main(int argc, char** argv) { int fd,i; char input; fd = roomba_init(argv[1]); roomba_safe(fd); tcflush(fd,TCIOFLUSH); struct roomba_sensor_data sensor_data; while(1) { printf("bump sensors 0x%x\n",sensor_data.bumps_wheeldrops); printf("wall 0x%x\n",sensor_data.wall); printf("left cliff sensor 0x%x\n",sensor_data.cliff_left); printf("front left cliff sensor 0x%x\n",sensor_data.cliff_front_left); printf("chage is %d\n",sensor_data.charge); printf("Buttons are 0x%x\n",sensor_data.buttons); roomba_read_sensor_data(fd,&sensor_data); input = getc(stdin); if(input=='q') return(0); } roomba_free(fd); return(0); }
int main(int argc, char *argv[]) { char* serialport; speed_t baud = B57600; fprintf(stderr, argv[0]); if ((!strncmp((argv[0]+strlen(argv[0])-13), "simpletest500",13))) { fprintf(stderr,"roomba 500 series\n"); baud = B115200; // running as simpletest500 sets baud rate to 115200 } if( argc>1 && strcmp(argv[1],"-p" )==0 ) { serialport = argv[2]; } else { usage(); } roombadebug = 1; Roomba* roomba = roomba_init( serialport, baud ); roomba_forward( roomba ); roomba_delay(1000); roomba_backward( roomba ); roomba_delay(1000); roomba_spinleft( roomba ); roomba_delay(1000); roomba_spinright( roomba ); roomba_delay(1000); roomba_stop( roomba ); roomba_close( roomba ); roomba_free( roomba ); return 0; }