int main(int argc, char** argv) { (void) argc; (void) argv; Aversive::init(); Task t1([]() { if(enc_l.getValue() >= 10000 && MOT_L >= 0) { mot_l.setValue(-10); //io << "stop left !\n"; //Aversive::stop(); } if(enc_r.getValue() >= 50000 && MOT_R >= 0) { mot_r.setValue(-10); //io << "stop right !\n"; } //ClientThread::instance().sendMessage(ClientThread::INFO, "TEST"); }); t1.setPeriod(10000); t1.setRepeat(); sched.addTask(t1); mot_l.setValue(100); mot_r.setValue(100); while(Aversive::sync()) { //io << "test " << ENC_L << " " << ENC_R << "\n"; } Aversive::setReturnCode(0); return Aversive::exit(); }
void TurnRight::Handle_Motor(Motor& rightMotor, Motor& leftMotor){ std::cout << "Turning right" << endl; rightMotor.setValue(1); leftMotor.setValue(-1); }