main.cc

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

int
main(int argc, char *argv[])
{
   using namespace PlayerCc;
   timespec move_sleep = { 5, 0 };
   timespec turn_sleep = { 3, 0 };
   timespec stop_sleep = { 10, 0 };

   PlayerClient    robot("localhost");
   Position2dProxy pp(&robot, 0);
   IrProxy ir(&robot, 0);

   double turn_rate = -0.5;
   double move_speed = 0.020;

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

      printf("SCORPION_IR_BN_N (front) shows: %f\n", ir[SCORPION_IR_BN_N]);
      printf("SCORPION_IR_TE_NNW (right wheel) shows: %f\n", ir[SCORPION_IR_TE_NNW]);
      printf("SCORPION_IR_TW_NNE (left wheel) shows: %f\n", ir[SCORPION_IR_TW_NNE]);
      nanosleep(&turn_sleep, NULL);
   }
}

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