Merge branch 'develop' into expose_digital_IO

# Conflicts:
#	source/pyromocc/source/pyromocc.cpp

README.md

@@ -42,26 +42,30 @@ print(robot.operational_config)
 ```
 
 ### Setup and build ###
+For building libromocc, you need to have CMake installed. 
 
 ```bash
 git clone https://github.com/SINTEFMedtek/libromocc.git
 cd libromocc
 mkdir build
 cd build
-cmake ..
-make -j8
 ```
 
-### Setup and build (Windows) ###
+#### Ubuntu ####
 
-These instructions assume you have Visual Studio and CMake GUI available on your computer. 
 ```bash
-git clone https://github.com/SINTEFMedtek/libromocc.git
-cd libromocc
-mkdir build
-cd build
-cmake-gui.exe ..
+cmake ..
+make -j 4
 ```
+
+#### Windows ####
+```bash
+cmake .. -G "Visual Studio 16 2019" -A x64 # Change generator string to reflect your VS version
+cmake --build . --config Release -j 4
+```
+
+##### Visual studio #####
+
 Update the paths to the source code and the build directory as needed:
 - Source: ```<path_to>/libromocc/source```
 - Build: ```<path_to>/libromocc/build```

source/pyromocc/examples/spacemouse_control.py

@@ -0,0 +1,18 @@
+import time
+
+from pyromocc.tools import SpaceMouse
+from pyromocc import Robot
+
+robot = Robot(ip="localhost", port=30003)
+robot.connect()
+
+space_mouse = SpaceMouse()
+space_mouse.connect()
+
+
+while True:
+    raw_state = space_mouse.get_operational_config(calibrated=True)
+    target_speed = [raw_state[0]*100, raw_state[1]*100, raw_state[2]*100,
+                    raw_state[3]*100, raw_state[4]*100, raw_state[5]*100]
+    robot.speedl(target_speed, 100, 0.5)
+    time.sleep(0.01)