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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_motor.cc
parentb673946d76e436c067d24e535b1e0a167b9dfc47 (diff)
Initial revision
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+// test_motor.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 "motor.h"
+#include "erreur/erreur.h"
+#include "date/date.h"
+#include "movement_types.h"
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+#include <math.h>
+
+using namespace std;
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ Motor m;
+ int i = 1;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 'g':
+ cout << "go" << endl;
+ i++;
+ m.go ();
+ break;
+ case 'G':
+ cout << "ungo" << endl;
+ i++;
+ m.go (false);
+ break;
+ case 'w':
+ cout << "wait stop" << endl;
+ i++;
+ m.waitStopped ();
+ break;
+ case 'b':
+ {
+ i++;
+ double speed;
+ double len;
+ if (i >= argc) break;
+ speed = atof (argv[i++]);
+ if (i >= argc) break;
+ len = atof (argv[i++]);
+ cout << "basic " << speed << ' ' << len << endl;
+ Movement *mov = new MovementBasic (speed, len);
+ m.setMovement (mov);
+ }
+ break;
+ case 't':
+ {
+ i++;
+ double dX, dY;
+ if (i >= argc) break;
+ dX = atof (argv[i++]);
+ if (i >= argc) break;
+ dY = atof (argv[i++]);
+ cout << "goto " << dX << ' ' << dY << endl;
+ Movement *mov = new MovementGoTo (dX, dY, 10.0, 0.0,
+ 1.0, 1.5,
+ 0.1, 0.1,
+ 0.7, 0.7);
+ m.setMovement (mov);
+ }
+ 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 (50);
+ }
+ break;
+ }
+ m.waitEnd ();
+ }
+ return 0;
+ }
+ catch (Erreur &e)
+ {
+ cerr << e.what () << endl;
+ return 1;
+ }
+}