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+// test_motor.cc
+// robert - programme du robot 2005 {{{
+//
+// Copyright (C) 2005 Nicolas Haller
+//
+// Robot APB Team/Efrei 2005.
+// 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 "config/config.hh"
+#include "motor/motor.hh"
+#include "timer/timer.hh"
+
+#include <iostream>
+
+/// Affiche un memo de suntaxe.
+ void
+syntax (void)
+{
+ std::cout << "test_motor - test la classe motor.\n"
+ "Syntaxe : test_motor <...>\n"
+ " s <cmd> <args...> envois une commande\n"
+ " w <ms> attend pendant un nombre de millisecondes\n"
+ " ? affiche cet écran d'aide\n"
+ << std::endl;
+}
+
+ int
+main (int argc, char **argv)
+{
+ try
+ {
+ int i;
+ if (argc < 2)
+ {
+ syntax ();
+ return 1;
+ }
+ Config config(argc, argv);
+ Motor motor(config);
+ i = 1;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 's':
+ {
+ switch(argv[++i][0])
+ {
+ case 'z':
+ motor.init();
+ break;
+ case 's':
+ motor.stop();
+ break;
+ case 'P':
+ std::cout << "position:\n" <<
+ "X: " << motor.getX() <<
+ "Y: " << motor.getY() <<
+ "A: " << motor.getA() << std::endl;
+ break;
+ case 'g':
+ if(++i + 2 > argc)
+ throw std::runtime_error("syntax error");
+ motor.goTo(strtod(argv[i], 0),
+ strtod(argv[i + 1], 0),
+ strtod(argv[i + 2], 0));
+ i += 2;
+ break;
+ case 'r':
+ motor.recalage();
+ break;
+ case 'I':
+ std::cout << "Moteur idle? "
+ << motor.idle() << std::endl;
+ case 'l':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ motor.linearMove(strtod(argv[i],0));
+ break;
+ case 'a':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ motor.rotation(strtod(argv[i], 0));
+ break;
+ }
+ break;
+ }
+
+ case 'w':
+ {
+ int stop, t;
+ if (i + 1 >= argc)
+ throw std::runtime_error ("syntax error");
+ stop = atoi (argv[++i]) + Timer::getProgramTime ();
+ t = Timer::getProgramTime ();
+ while (t < stop)
+ {
+ motor.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ break;
+ }
+ case '?':
+ syntax ();
+ return 0;
+ default:
+ throw std::runtime_error ("syntax error");
+ }
+ i++;
+ }
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ syntax ();
+ return 1;
+ }
+ return 0;
+}