From 5219e46cd11d0d2130d5f7d4c3d65638f9527e8a Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Thu, 17 May 2018 14:47:05 +0200
Subject: [PATCH] commandToolUpdate
---
.../src/VeloxProtocolLib/test/TerminalControl.cpp | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp b/modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp
index c8c0ded9..7898ff62 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp
+++ b/modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp
@@ -15,6 +15,7 @@ int main(int argc, char ** argv)
networking::Networking net;
std::atomic<bool> monitorSTM{false};
std::atomic<bool> monitorUSS{false};
+ std::atomic<bool> speed{0.0f};
std::atomic<bool> running{true};
std::mutex outputMutex;
auto conn = Connection::create(net);
@@ -40,8 +41,10 @@ int main(int argc, char ** argv)
while (running)
{
int distance = uss.getDistance();
- //if (distance > 20)
- //conn->setSpeed(0);
+ if (distance <= 20)
+ conn->setSpeed(0);
+ else
+ conn->setSpeed(speed);
if (!monitorUSS)
continue;
@@ -96,7 +99,7 @@ int main(int argc, char ** argv)
value = value >= 0 ? MAX_SPEED : -MAX_SPEED;
std::cout << "WARNING: Speed set to 1.0 due to risk of collision!\n";
}
- conn->setSpeed(value);
+ speed = value;
}
else std::cout << "Error: Unknown command!\n";
}
--
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