main.cc

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#include <stdio.h>
#include <scorpion.h>
#include <libplayerc++/playerc++.h>

int
main(int argc, char *argv[])
{
   using namespace PlayerCc;

   PlayerClient robot("localhost");
   IrProxy ir(&robot, 0);

   while (1) {
      // read from the proxies
      robot.Read();

      printf("%d IR range sensors\n", ir.GetCount());

      for (int i = 0; i < ir.GetCount(); i++) {
         double range = ir[i];

         if (range < 10)
            printf("%-10s -> %f\n", scorpion_ir_range_name(i), range);
      }
   }
}

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