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authorschodet2004-02-07 16:55:41 +0000
committerschodet2004-02-07 16:55:41 +0000
commit9fdd6704947174fae292dfc6e14cc1029a7f7a6c (patch)
tree40a4fe775845ececdaf27e82d99d6a06f6b3803e /2004/i/nono/src/motor/test_asserv.cc
parentb673946d76e436c067d24e535b1e0a167b9dfc47 (diff)
Initial revision
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+// test_asserv.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "asserv.h"
+#include "erreur/erreur.h"
+#include "date/date.h"
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+using namespace std;
+
+class AsservTrackerC : public AsservTracker
+{
+ int s;
+ public:
+ // Appelée lors d'une mise à jour des compteurs.
+ virtual void updateCounter (int l, int r) { s += l; }
+ // Affiche.
+ void aff (void)
+ { std::cout << s << std::endl; }
+ // Reset.
+ void reset (void)
+ { s = 0; }
+};
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ AsservTrackerC at;
+ Asserv m (at);
+ int i = 1;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 's':
+ at.reset ();
+ cout << "stop" << endl;
+ i++;
+ m.stop ();
+ break;
+ case 'z':
+ cout << "rezet" << endl;
+ i++;
+ m.reset ();
+ break;
+ case 'g':
+ cout << "go" << endl;
+ i++;
+ m.go ();
+ break;
+ case 'G':
+ cout << "ungo" << endl;
+ i++;
+ m.go (false);
+ break;
+ case 'v':
+ i++;
+ int vg, vd;
+ if (i >= argc) break;
+ vg = atoi (argv[i++]);
+ if (i >= argc) break;
+ vd = atoi (argv[i++]);
+ cout << "speed " << vg << ' ' << vd << endl;
+ m.speed (vg, vd);
+ break;
+ default:
+ int s;
+ s = atoi (argv[i++]);
+ cout << "sleep " << s << endl;
+ for (int j = 0; j < s * 1000 / 50; ++j)
+ {
+ m.ok ();
+ Date::wait (1);
+ }
+ break;
+ }
+ m.waitOk ();
+ }
+ at.aff ();
+ return 0;
+ }
+ catch (Erreur &e)
+ {
+ cerr << e.what () << endl;
+ return 1;
+ }
+}