63 lines
1.8 KiB
C++
63 lines
1.8 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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ArACTS_1_2 acts;
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enum {
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WIDTH = 160,
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HEIGHT = 120
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};
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int main(void)
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{
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ArACTSBlob blob;
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double xRel, yRel;
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int i;
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acts.openPort(NULL);
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acts.requestPacket();
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while(1)
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{
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if (acts.receiveBlobInfo())
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{
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//acts.receiveBlobInfo();
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for (i = 0; i < 8; i++)
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if (acts.getNumBlobs(i) >= 1 && acts.getBlob(i, 1, &blob))
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{
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xRel = (double)(blob.getXCG() - WIDTH/2.0) / (double)WIDTH;
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yRel = (double)(blob.getYCG() - HEIGHT/2.0) / (double)HEIGHT;
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printf("Chan %d xRel %.4f yRel %.4f ", i, xRel, yRel);
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blob.log();
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}
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acts.requestPacket();
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ArUtil::sleep(80);
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}
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ArUtil::sleep(5);
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}
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}
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