battery_test.cc

   1 /**
   2  * @file battery_test.cc
   3  * @date 1 Dec 2010
   4  * @author Roland Hieber <rohieb@rohieb.name>
   5  *
   6  * Application that writes the Roomba's battery status to stdout repeatedly.
   7  *
   8  * Permission is hereby granted, free of charge, to any person obtaining
   9  * copy of this software and associated documentation files (the "Software"),
  10  * to deal in the Software without restriction, including without limitation
  11  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
  12  * and/or sell copies of the Software, and to permit persons to whom the
  13  * Software is furnished to do so, subject to the following conditions:
  14  *
  15  * The above copyright notice and this permission notice shall be included in
  16  * all copies or substantial portions of the Software.
  17  *
  18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  19  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  20  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  21  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  22  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  23  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  24  * THE SOFTWARE.
  25  */
  26
  27 #include <iostream>
  28 #include <stdint.h>
  29 #include <external_interface/pc/pc_os_model.h>
  30 #include <external_interface/pc/pc_com_uart.h>
  31 #include <external_interface/pc/pc_timer.h>
  32 #include <intermediate/robot/roomba/roomba.h>
  33 #include <intermediate/robot/controlled_motion.h>
  34
  35 using namespace std;
  36
  37 // UART port on which we communicate with the Roomba
  38 char uart[] = "/dev/ttyUSB0";
  39
  40 typedef wiselib::PCOsModel OsModel;
  41 typedef wiselib::StandaloneMath Math;
  42 typedef wiselib::PCComUartModel<OsModel, uart> RoombaUart;
  43 typedef wiselib::RoombaModel<OsModel, RoombaUart> Roomba;
  44 typedef wiselib::ControlledMotion<OsModel, Roomba> ControlledMotion;
  45
  46 /**
  47  * main function
  48  */
  49 int main(int argc, char ** argv) {
  50
  51   OsModel::Os os;
  52   OsModel::Timer::self_t timer;
  53   Roomba roomba;
  54   RoombaUart roomba_uart(os);
  55   ControlledMotion ctrl_motion;
  56
  57   // init stuff
  58   roomba_uart.set_baudrate(19200);
  59   roomba_uart.enable_serial_comm();
  60   roomba.init(roomba_uart, timer, Roomba::POSITION
  61     | Roomba::BATTERY_AND_TEMPERATURE);
  62
  63   cout << "Got roomba at " << roomba_uart.address() << endl;
  64
  65   roomba.reset_distance();
  66   roomba.reset_angle();
  67   ctrl_motion.init(roomba);
  68
  69   while(true) {
  70     cout << "batt_charge=" << roomba().charge << " batt_capacity="
  71       << roomba().capacity << " batt_voltage=" << roomba().voltage
  72       << " batt_current=" << roomba().current << endl;
  73     sleep(1);
  74   }
  75 }