Documentation / v1.0 / Core / Introduction

From emss Framework - iRobot Create C++ Framework

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[edit] Introduction

Any application which interfaces with emss must initialize the Core object. The allocation and initialization of the Core class just allocates the data tier, in turn creating an empty environment and unknown state of the world, disconnected from the hardware. To use the emss Core and communicate with hardware, the application must call connect(controller,tracker,port) with the desired parameters on the Core object, which in turn creates all the connections between software and hardware, as well as lines of communications between the appropriate components. When finished, the application is responsible for calling disconnect() and deleting the Core object.

// Initialze Core and connect on COM4 using Block Drive Controller and Raw
// Movement Tracker
Core *core = new Core();
core->connect(“Block Drive”, “Raw”, “COM4”, false);
// Core is now connected and ready to be used...
core->disconnect();
delete core;