#include "segwayrmp/segwayrmp.h"

segwayrmp::SegwayRMP rmp(interface_type);

rmp.connect();

rmp.setOperationalMode(segwayrmp::balanced);

while(true) {

  rmp.move(0.1, 0);
  
  usleep(100000);
  
}

    SegwayRMP()
    SegwayRMP::SegwayRMP 	( 	InterfaceType  	interface_type = serial,
    		SegwayRMPType  	segway_rmp_type = rmp200 
    	) 		
    
    Constructs the SegwayRMP object given the interface type.
    
    Parameters
        interface_type	This must be can, usb, or serial. Default is usb.
        segway_rmp_type	This can be rmp50, rmp100, rmp200, or rmp400. Default is rmp200. 

    move()
    void SegwayRMP::move 	( 	float  	linear_velocity,
    		float  	angular_velocity 
    	) 		
    
    This command moves the base at a given linear and angular velocity. This assumes the max velocity scalar is set to 1.0.
    
    Parameters
        linear_velocity	Forward/Reverse desired velocity of the vehicle in m/s.
        angular_velocity	Desired angular velocity of the vehicle in degrees/s, positive to is left. 

    setOperationalMode()
    void SegwayRMP::setOperationalMode 	( 	OperationalMode  	operational_mode	) 	
    
    Sets the operational mode.
    
    Parameters
        operational_mode	This must be disabled, tractor, or balanced. 

->right_wheel_velocity
->left_wheel_velocity
->pitch_angle
->pitch_rate
->roll_angle
->roll_rate
->yaw_rate
->left_wheel_displ
->right_wheel_displ
->forward_displ
->yaw_displ
->uptime
->left_torque
->right_torque
->ui_battery
->powerbase_battery

void CSegwayRMP200::init_threads(void)
{
    this->thread_server = CThreadServer::instance();

    this->read_thread_id      = this->id + "_read_thread";
    this->command_thread_id   = this->id + "_command_thread";
    this->heartbeat_thread_id = this->id + "_heartbeat_thread";
...