// 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 #include const char motorHelp[] = " g go (active l'asservissement)\n" " G ungo (désactive l'asservissement)\n" " w wait stop (attend l'arret complet)\n" " b \n" " mouvement basique\n" " t va en (x, y)\n" " r se dirige vers l'angle a en degrés\n" " R Tourne à la vitesse v\n" " c Suis un arc de rayon r et d'angle a en degrés\n" " h [p ]...\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 'R': { i++; double s; if (i >= argc) break; s = atof (argv[i++]); std::cout << "test: round cruise " << s << std::endl; Movement *mov = new MovementRoundCruise (s * 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; }