71 lines
2.0 KiB
C++
71 lines
2.0 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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ArTime lastLoopTime;
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int loopTime;
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void loopTester(void)
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{
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printf("%6ld ms since last loop. ms longer than desired: %6ld.\n",
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lastLoopTime.mSecSince(),
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lastLoopTime.mSecSince() - loopTime);
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lastLoopTime.setToNow();
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}
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int main(void)
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{
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ArRobot robot;
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ArTcpConnection conn;
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ArGlobalFunctor loopTesterCB(&loopTester);
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lastLoopTime.setToNow();
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Aria::init();
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conn.setPort();
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robot.setDeviceConnection(&conn);
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robot.setCycleChained(true);
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if (!robot.blockingConnect())
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{
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printf("Could not connect to robot.\n");
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Aria::shutdown();
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exit(0);
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}
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robot.comInt(ArCommands::ENCODER, 1);
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robot.setCycleTime(100);
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loopTime = robot.getCycleTime();
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robot.addUserTask("loopTester", 0, &loopTesterCB);
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robot.run(false);
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Aria::shutdown();
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}
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