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+// motor_cmd.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_cmd.h"
+#include "motor.h"
+#include "movement_types.h"
+
+#include <iostream>
+#include <cmath>
+
+const char motorHelp[] =
+ " g go (active l'asservissement)\n"
+ " G ungo (désactive l'asservissement)\n"
+ " w wait stop (attend l'arret complet)\n"
+ " b <speed> <len>\n"
+ " mouvement basique\n"
+ " t <x> <y> va en (x, y)\n"
+ " r <a> se dirige vers l'angle a en degrés\n"
+ " c <r> <a> Suis un arc de rayon r et d'angle a en degrés\n"
+ " h <fa> [p <x> <y>]...\n"
+ " trace une courbe d'hermite\n";
+
+bool
+motorCmd (int argc, char **argv, int &i, Motor &m)
+{
+ switch (argv[i][0])
+ {
+ case 'g':
+ std::cout << "test: go" << std::endl;
+ i++;
+ m.go ();
+ break;
+ case 'G':
+ std::cout << "test: ungo" << std::endl;
+ i++;
+ m.go (false);
+ break;
+ case 'w':
+ std::cout << "test: wait stop" << std::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++]);
+ std::cout << "test: basic " << speed << ' ' << len << std::endl;
+ Movement *mov = new MovementBasic (speed, len);
+ m.addMovement (mov);
+ }
+ break;
+ case 't':
+ {
+ i++;
+ double dX, dY;
+ if (i >= argc) break;
+ dX = atof (argv[i++]);
+ if (i >= argc) break;
+ dY = atof (argv[i++]);
+ std::cout << "test: goto " << dX << ' ' << dY << std::endl;
+ Goto *g = new GotoSimple (dX, dY);
+ Movement *mov = new MovementGoto (g);
+ m.addMovement (mov);
+ }
+ break;
+ case 'r':
+ {
+ i++;
+ double dA;
+ if (i >= argc) break;
+ dA = atof (argv[i++]);
+ std::cout << "test: rotation " << dA << std::endl;
+ Movement *mov = new MovementRotation (dA * 2 * M_PI /
+ 360);
+ m.addMovement (mov);
+ }
+ break;
+ case 'c':
+ {
+ i++;
+ double r, a;
+ if (i >= argc) break;
+ r = atof (argv[i++]);
+ if (i >= argc) break;
+ a = atof (argv[i++]);
+ std::cout << "test: circle " << r << ' ' << a << std::endl;
+ Goto *g = new GotoCircle (r, a * 2 * M_PI / 360);
+ Movement *mov = new MovementGoto (g);
+ m.addMovement (mov);
+ }
+ break;
+ case 'h':
+ {
+ i++;
+ double fa, x, y;
+ if (i >= argc) break;
+ fa = atof (argv[i++]);
+ std::cout << "test: hermite " << fa << ' ' << x << ' ' << y <<
+ std::endl;
+ GotoHermite *g = new GotoHermite (fa * 2 * M_PI / 360);
+ while (argv[i][0] == 'p')
+ {
+ i++;
+ if (i >= argc) break;
+ x = atof (argv[i++]);
+ if (i >= argc) break;
+ y = atof (argv[i++]);
+ std::cout << "test: hermite point " << x << ' ' << y <<
+ std::endl;
+ g->add (x, y);
+ }
+ Movement *mov = new MovementGoto (g);
+ m.addMovement (mov);
+ }
+ break;
+ default:
+ return false;
+ }
+ return true;
+}
+