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1. 打开samples工程
   
2. 右键go_home_to_charge, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
   
3. 右键go_home_to_charge, 将此工程设置成StartUp project
4. 右键go_home_to_charge, 在Debugging页面中command Arguments处输入 192.168.11.1
   格式说明：go_home_to_charge <IP address> 
   
5. 点击F5运行（TODO 添加RoboStudio的视频）
6. 可以连上Robostudio查看地图及机器人的运动
   

   Multimedia
   name bandicam 2018-01-30 16-41-38-921.mp4

   
   
   

代码描述

• 代码功能说明： 调用goHome()接口来进行自动回充，如果没有找到充电桩或者充电失败，会重复至多三次调用goHome()

  Code Block
  language cpp firstline 1 title 自动回充 linenumbers true
  const int max_go_home_times = 3; SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; int go_home_count = 1; rpos::actions::MoveAction action; do { action = sdp.goHome(); action.waitUntilDone(); if(action.getStatus() == rpos::core::ActionStatusFinished) break; std::cout << "go home to charge times count: " << go_home_count << std::endl; go_home_count++; } while(go_home_count <= max_go_home_times);

  
  

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