The project is built as a dynamic library so that the program can easily link to it. The recommended practice to use the library is to clone it as a git submodule:
If you are using cmake, simply create a CMakeLists.txt file and link the library to your executable:
cmake_minimum_required(VERSION 3.0.2)project(serial_examples)option(CATKIN_ENABLE "Enable using the Catkin make extension to cmake (ie for ROS)"OFF)add_subdirectory(opencat_serial)add_executable(serial_examples path/to/cpp)target_link_libraries(serial_examples opencat_serial)
Examples
Below is a very simple example on how to use the library.
#include"opencat_serial/opencat_serial.hpp"intmain(int argc,char*argv[]){ // connect to the serial device OpenCat::Robot rob("/path/to/port"); // create task OpenCat::Task task; // set command type to calibration posetask.command = OpenCat::Command::CALIB_POSE; // time delayed after executiontask.delay =2; // send commandrob.SendTask({OpenCat::Command::CALIB_POSE,2});return0;}