-

modules/catkin_ws/src/VeloxProtocolLib/test/SpeedMeasure.cpp

@@ -2,12 +2,24 @@
 // Created by philipp on 10.05.18.
 //
 
+#include <iostream>
 #include "../include/VeloxProtocolLib/Connection.h"
 
 int main(int argc, char ** argv)
 {
     using namespace veloxProtocol;
     using namespace std::chrono_literals;
+
+    if (argc < 4)
+    {
+        std::cerr << "Usage: speed angle time[s]\n";
+        return -1;
+    }
+
+    float speed = atof(argv[1]);
+    float angle = atof(argv[2]);
+    int time = atoi(argv[3]);
+
     networking::Networking net;
     std::atomic<bool> running{true};
     auto conn = Connection::create(net);
@@ -18,11 +30,12 @@ int main(int argc, char ** argv)
         []
         {});
 
+    conn->setSpeed(speed);
+    conn->setSteeringAngle(angle);
+
     auto timer = networking::time::Timer::create(net);
-    conn->setSteeringAngle(-4.0f);
-    conn->setSpeed(1.0f);
     timer->startTimeout(
-        10s,
+        std::chrono::seconds{time},
         [&]
         {
             conn->setSpeed(0.0f);