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This commit is contained in:
Johnathon Slightham
2026-03-10 18:14:23 -04:00
parent 9986b07362
commit 894a8131d4
7 changed files with 45 additions and 28 deletions
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4
examples/servo/conanfile.txt
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@@ -1,8 +1,8 @@
[requires]
libcontrol/1.0.0
libcontrol/1.0.3
flatbuffers/24.12.23
spdlog/1.16.0
librpc/1.1.7
librpc/1.1.8
[generators]
CMakeDeps

11
examples/servo/main.cpp
View File

@@ -24,17 +24,20 @@ int main() {
std::cout << "Found " << controller->getModules().size() << " modules" << std::endl;
for (const auto &maybe_module : controller->getModules()) {
if (const auto &module = maybe_module.lock()) {
if (module->get_type() == ModuleType_DC_MOTOR) {
if (module->get_type() == ModuleType_SERVO_2 ||
module->get_type() == ModuleType_SERVO_1) {
std::cout << "Actuating " << (int)module->get_device_id() << " leader "
<< (int)module->get_leader() << std::endl;
int randomNumber = dist(gen);
if (module->get_position() > 90) {
module->actuate(70 - randomNumber);
module->actuate(50 - randomNumber);
} else {
module->actuate(110 + randomNumber);
module->actuate(150 + randomNumber);
}
std::this_thread::sleep_for(std::chrono::milliseconds(250));
}
}
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
return 0;