107 lines
3.3 KiB
C++
107 lines
3.3 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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/** @example mtxWheelLights.cpp Shows possible MTX wheel lamp states */
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int main(int argc, char **argv)
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{
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Aria::init();
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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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ArRobot robot;
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ArRobotConnector robotConnector(&parser, &robot);
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if(!robotConnector.connectRobot())
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{
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ArLog::log(ArLog::Terse, "mtxWheelLights: Could not connect to the robot.");
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if(parser.checkHelpAndWarnUnparsed())
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{
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// -help not given
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Aria::logOptions();
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Aria::exit(1);
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}
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}
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if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
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{
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Aria::logOptions();
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Aria::exit(1);
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}
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ArLog::log(ArLog::Normal, "mtxWheelLights: Connected.");
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robot.runAsync(true);
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struct {
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ArTypes::UByte pattern;
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ArTypes::Byte value;
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ArTypes::UByte flags;
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ArTypes::UByte flags2;
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} lamp;
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lamp.value = 0;
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lamp.flags = 0;
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lamp.flags2 = 0;
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const int sleeptime = 3000;
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for(lamp.pattern = 1; lamp.pattern <= 10; ++(lamp.pattern))
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{
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ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d...", lamp.pattern);
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robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
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ArUtil::sleep(sleeptime);
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if(lamp.pattern == 6)
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{
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for(lamp.value = 0; lamp.value <= 100; lamp.value += 10)
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{
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ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d with value %d...", lamp.pattern, lamp.value);
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robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
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ArUtil::sleep(sleeptime);
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}
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lamp.value = 0;
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}
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else
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{
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lamp.value = 50;
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ArLog::log(ArLog::Normal, "mtxWheelLights: patterd %d with value 50...", lamp.pattern);
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robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
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ArUtil::sleep(sleeptime);
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lamp.value = 0;
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}
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ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d with warning flag...", lamp.pattern);
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lamp.flags |= ArUtil::BIT1;
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robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
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ArUtil::sleep(sleeptime);
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lamp.flags = 0;
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}
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ArLog::log(ArLog::Normal, "mtxWheelLights: Exiting.");
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Aria::exit(0);
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return 0;
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}
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