80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
/*
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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 moduleExample_Mod2.cpp
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* @brief Example demonstrating how to implement a module with ArModule
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*
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* This is a second module loaded by moduleExample.cpp.
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@sa moduleExample.cpp.
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@sa ArModule in the reference manual.
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*/
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class SimpleMod : public ArModule
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{
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public:
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bool init(ArRobot *robot, void *argument = NULL);
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bool exit();
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ArActionLimiterForwards myLimiterForwards;
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};
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SimpleMod module2;
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ARDEF_MODULE(module2);
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bool SimpleMod::init(ArRobot *robot, void *argument)
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{
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ArLog::log(ArLog::Normal, "moduleActionExample2_Mod: Robot name is %s", robot->getRobotName());
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ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: init(%p) called in moduleActionExample2_Mod!", robot);
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if (argument != NULL)
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ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: Argument given to ArModuleLoader::load was the string '%s'.",
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(char *)argument);
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else
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ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: No argument was given to ArModuleLoader (this is OK).");
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// Do stuff here...
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robot->addAction(&myLimiterForwards, 40);
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myLimiterForwards.activate();
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robot->clearDirectMotion();
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robot->enableMotors();
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return(true);
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}
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bool SimpleMod::exit()
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{
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ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: exit() called.");
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// Do stuff here...
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return(true);
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}
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