From 236cf50a11672fd15ba62f2eca2e9368d2681c1e Mon Sep 17 00:00:00 2001 From: haller Date: Thu, 28 Apr 2005 22:31:07 +0000 Subject: Création de test_motor pour tester la classe motor Quelques petites modifications Modification du Makefile.defs pour ajouter les objets necessaires --- 2005/i/robert/src/motor/Makefile.defs | 5 +- 2005/i/robert/src/motor/motor.cc | 11 ++- 2005/i/robert/src/motor/motor.hh | 4 +- 2005/i/robert/src/motor/test_motor.cc | 136 ++++++++++++++++++++++++++++++++++ 4 files changed, 147 insertions(+), 9 deletions(-) create mode 100644 2005/i/robert/src/motor/test_motor.cc (limited to '2005/i/robert/src') diff --git a/2005/i/robert/src/motor/Makefile.defs b/2005/i/robert/src/motor/Makefile.defs index 2491bb5..51c658c 100644 --- a/2005/i/robert/src/motor/Makefile.defs +++ b/2005/i/robert/src/motor/Makefile.defs @@ -2,6 +2,9 @@ PROGRAMS += test_motor motor_OBJECTS = motor.o -test_motor_OBJECTS = test_motor.o $(motor_OBJECTS) +test_motor_OBJECTS = test_motor.o $(motor_OBJECTS) $(timer_OBJECTS) \ + $(config_OBJECTS) $(serial_OBJECTS) \ + $(asserv_OBJECTS) $(proto_OBJECTS) $(log_OBJECTS) \ + $(utils_OBJECTS) test_motor: $(test_motor_OBJECTS) diff --git a/2005/i/robert/src/motor/motor.cc b/2005/i/robert/src/motor/motor.cc index 896c7f4..0bc7525 100644 --- a/2005/i/robert/src/motor/motor.cc +++ b/2005/i/robert/src/motor/motor.cc @@ -79,12 +79,6 @@ void Motor::recalage(void) // XXX je ne vois pas là } -void Motor::setSpeed(double v) -{ - asserv_.setSpeed(v,v); /// XXX sur ca? - idle_ = false; -} - bool Motor::idle(void) { return idle_; @@ -107,6 +101,11 @@ bool Motor::sync(void) return asserv_.sync(); } +void Motor::wait(int timeout) +{ + asserv_.wait(timeout); +} + void Motor::receiveCounter (double lMotor, double rMotor) { } diff --git a/2005/i/robert/src/motor/motor.hh b/2005/i/robert/src/motor/motor.hh index e617980..60eb504 100644 --- a/2005/i/robert/src/motor/motor.hh +++ b/2005/i/robert/src/motor/motor.hh @@ -62,8 +62,6 @@ class Motor : public Asserv::Receiver void goTo(double x, double y, double a); /// Recale le robot void recalage(void); - /// Règle la vitesse des moteurs - void setSpeed(double v); /// Indique si les moteurs sont occupé ou non bool idle (void); /// Execute un déplacement linéaire @@ -72,6 +70,8 @@ class Motor : public Asserv::Receiver void rotation(double newA); /// Syncronisation bool sync(void); + /// On attend... + void wait(int timeout); /// déclaration des fonctions de receiver void receiveCounter (double lMotor, double rMotor); void receivePosX (double xPos); diff --git a/2005/i/robert/src/motor/test_motor.cc b/2005/i/robert/src/motor/test_motor.cc new file mode 100644 index 0000000..477da41 --- /dev/null +++ b/2005/i/robert/src/motor/test_motor.cc @@ -0,0 +1,136 @@ +// 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 + +/// Affiche un memo de suntaxe. + void +syntax (void) +{ + std::cout << "test_motor - test la classe motor.\n" + "Syntaxe : test_motor <...>\n" + " s envois une commande\n" + " w 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; +} -- cgit v1.2.3