85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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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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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 General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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/* Tests the MOVE command */
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int main(int argc, char **argv)
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{
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ArRobot robot;
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Aria::init();
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ArSimpleConnector connector(&argc, argv);
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if (!connector.parseArgs() || argc > 1)
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{
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connector.logOptions();
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return 1;
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}
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if (!connector.connectRobot(&robot))
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{
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ArLog::log(ArLog::Terse, "moveCommandTest: Could not connect to robot... exiting.");
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return 2;
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}
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robot.runAsync(true);
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robot.lock();
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robot.enableMotors();
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robot.unlock();
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ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 500 mm...");
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robot.lock();
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robot.move(500);
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robot.unlock();
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ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 5 seconds...\n");
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ArUtil::sleep(5000);
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ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 2000 mm...");
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robot.lock();
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robot.move(2000);
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robot.unlock();
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ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 10 seconds...\n");
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ArUtil::sleep(10000);
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ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 5000 mm...");
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robot.lock();
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robot.move(5000);
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robot.unlock();
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ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 15 seconds...\n");
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ArUtil::sleep(15000);
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ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 10000 mm... The robot may ignore this command, since the argument is so large.");
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robot.lock();
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robot.move(10000);
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robot.unlock();
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ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 30 seconds...\n");
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ArUtil::sleep(30000);
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ArLog::log(ArLog::Normal, "moveCommandTest: Ending robot thread and exiting.");
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robot.stopRunning();
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return 0;
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}
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