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qa_player_setmotor.cpp
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/***************************************************************************
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* qa_player_setmotor.cpp - Player QA App: set motor values
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*
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* Created: Tue Sep 30 23:40:57 2008
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* Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include <blackboard/remote.h>
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#include <interfaces/MotorInterface.h>
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#include <unistd.h>
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#include <cstdio>
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using namespace
fawkes;
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int
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main(
int
argc,
char
**argv)
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{
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BlackBoard
*bb =
new
RemoteBlackBoard
(
"localhost"
, 1910);
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MotorInterface
*motor = bb->
open_for_reading
<
MotorInterface
>(
"Player Motor"
);
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motor->
read
();
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printf(
"Motor x=%f y=%f z=%f\n"
,
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motor->
odometry_position_x
(), motor->
odometry_position_y
(),
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motor->
odometry_orientation
());
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printf(
"Setting relative (2, 0, 0), this is (%f, %f, %f) global\n"
,
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motor->
odometry_position_x
() + 2, motor->
odometry_position_y
(),
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motor->
odometry_orientation
());
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motor->
msgq_enqueue
(
new
MotorInterface::GotoMessage
(motor->
odometry_position_x
() + 2,
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motor->
odometry_position_y
(),
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motor->
odometry_orientation
(),
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1
/* sec */
));
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bb->
close
(motor);
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delete
bb;
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return
0;
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}
src
plugins
player
qa
qa_player_setmotor.cpp
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