// servo_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 "servo_cmd.h" #include "servo.h" #include #include const char servoHelp[] = " m déplace le servo n de diff.\n" " M déplace le servo n en pos.\n"; bool servoCmd (int argc, char **argv, int &i, Servo &servo) { int n; switch (argv[i][0]) { case 'm': i++; int diff; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; diff = atoi (argv[i++]); std::cout << "test: servo move " << n << ' ' << diff << std::endl; servo.move (n, diff); break; case 'M': i++; int pos; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; pos = atoi (argv[i++]); std::cout << "test: servo moveTo " << n << ' ' << pos << std::endl; servo.moveTo (n, pos); break; default: return false; } return true; }