From 462a4f0d5a43a2804f6bf210ec9b26a69a649a95 Mon Sep 17 00:00:00 2001
From: wangzheqie <wangzheqie@qq.com>
Date: Sun, 25 Apr 2021 13:20:13 +0800
Subject: [PATCH] add examples and readme

---
 README.md                               | 46 ++++++++++++++++++++++---
 ranger_examples/src/change_the_mode.cpp |  2 ++
 ranger_examples/src/control_the_car.cpp | 37 +++++++++++++++++---
 3 files changed, 77 insertions(+), 8 deletions(-)

diff --git a/README.md b/README.md
index ad7b2f3..6afba64 100644
--- a/README.md
+++ b/README.md
@@ -57,8 +57,8 @@ roslaunch ranger_bringup ranger_teleop_keyboard.launch
 ### 0. enable can control
 
 ```shell
-  robot->Connect("can0");
-  robot->EnableCommandedMode();
+robot->Connect("can0");
+robot->EnableCommandedMode();
 ```
 
 
@@ -68,7 +68,15 @@ roslaunch ranger_bringup ranger_teleop_keyboard.launch
 see `ranger_ros/ranger_examples/src/change_the_mode.cpp` for more details
 
 ```c++
-
+robot->Connect("can0");
+robot->EnableCommandedMode();
+
+// 0 Arckmann 1 Slide 2 round, 3 Sloping
+// 0 前后阿克曼 1 横移  2 自旋  3 侧移 
+robot->SetMotionMode(0);
+//  robot->SetMotionMode(1);
+//  robot->SetMotionMode(2);
+//  robot->SetMotionMode(3);
 ```
 
 
@@ -78,7 +86,37 @@ see `ranger_ros/ranger_examples/src/change_the_mode.cpp` for more details
 see `ranger_ros/ranger_examples/src/control_the_car.cpp` for more details
 
 ```c++
-
+robot->SetMotionCommand(0.1, 30.0/180.0 * M_PI); // steer angle = 30°
+
+// or write them in a function
+void Ackermann() {
+  robot->SetMotionMode(0);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_ACKERMAN);
+  l_v = 0.1;                  // m/s
+  angle_z = 30 / 180 * M_PI;  // rad
+}
+void Slide() {
+  robot->SetMotionMode(1);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_SLIDE);
+  l_v = 0.1;                  // m/s
+  angle_z = 30 / 180 * M_PI;  // rad
+}
+void Round() {
+  robot->SetMotionMode(2);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_ROUND);
+  l_v = 0.1;
+  // angle_z is not used
+}
+void Sloping() {
+  robot->SetMotionMode(3);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_SLOPING);
+  l_v = 0.1;
+  // angle_z is not used
+}
 ```
 
 
diff --git a/ranger_examples/src/change_the_mode.cpp b/ranger_examples/src/change_the_mode.cpp
index f1002fa..e70554b 100644
--- a/ranger_examples/src/change_the_mode.cpp
+++ b/ranger_examples/src/change_the_mode.cpp
@@ -36,6 +36,8 @@ int main(int argc, char *argv[]) {
   //  robot->SetMotionMode(2);
   //  robot->SetMotionMode(3);
 
+  robot->SetMotionCommand(0.1, 30.0/180.0 * M_PI); // steer angle = 30°
+
   // publish robot state at 50Hz while listening to twist commands
   ros::Rate rate(50);
   while (ros::ok()) {
diff --git a/ranger_examples/src/control_the_car.cpp b/ranger_examples/src/control_the_car.cpp
index 22e7f2a..547a6fc 100644
--- a/ranger_examples/src/control_the_car.cpp
+++ b/ranger_examples/src/control_the_car.cpp
@@ -12,9 +12,12 @@
 #include <nav_msgs/Odometry.h>
 #include <ros/ros.h>
 
+#include <ranger_msgs/RangerSetting.h>
+#include <ranger_msgs/RangerStatus.h>
 #include "ranger_base/ranger_messenger.hpp"
 #include "ugv_sdk/ranger_base.hpp"
 
+using namespace ranger_msgs;
 using namespace westonrobot;
 
 void Ackermann();
@@ -23,6 +26,7 @@ void Round();
 void Sloping();
 
 std::shared_ptr<RangerBase> robot;
+double l_v = 0.0, angle_z = 0.0;
 
 int main(int argc, char *argv[]) {
   // setup ROS node
@@ -43,12 +47,37 @@ int main(int argc, char *argv[]) {
   // publish robot state at 50Hz while listening to twist commands
   ros::Rate rate(50);
   while (ros::ok()) {
+    robot->SetMotionCommand(l_v, angle_z);
     ros::spinOnce();
     rate.sleep();
   }
   return 0;
 }
-void Ackermann(){}
-void Slide(){}
-void Round(){}
-void Sloping(){}
+void Ackermann() {
+  robot->SetMotionMode(0);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_ACKERMAN);
+  l_v = 0.1;                  // m/s
+  angle_z = 30 / 180 * M_PI;  // rad
+}
+void Slide() {
+  robot->SetMotionMode(1);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_SLIDE);
+  l_v = 0.1;                  // m/s
+  angle_z = 30 / 180 * M_PI;  // rad
+}
+void Round() {
+  robot->SetMotionMode(2);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_ROUND);
+  l_v = 0.1;
+  // angle_z is not used
+}
+void Sloping() {
+  robot->SetMotionMode(3);
+  // or
+  robot->SetMotionMode(RangerSetting::MOTION_MODE_SLOPING);
+  l_v = 0.1;
+  // angle_z is not used
+}