// test_motor.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.h" #include "erreur/erreur.h" #include "date/date.h" #include "movement_types.h" #include #include #include #include using namespace std; void syntax (void) { std::cout << "test_motor - teste la gestion du déplacement.\n" " 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" " c Suis un arc de rayon r et d'angle a en degrés\n" " attend un certain temps (qui augmente avec timeout)\n" " ? cet ecran d'aide" << std::endl; } int main (int argc, char **argv) { try { Motor m; int i = 1; while (i < argc) { switch (argv[i][0]) { case 'g': cout << "test: go" << endl; i++; m.go (); break; case 'G': cout << "test: ungo" << endl; i++; m.go (false); break; case 'w': cout << "test: wait stop" << 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++]); cout << "test: basic " << speed << ' ' << len << endl; Movement *mov = new MovementBasic (speed, len); m.setMovement (mov); } break; case 't': { i++; double dX, dY; if (i >= argc) break; dX = atof (argv[i++]); if (i >= argc) break; dY = atof (argv[i++]); cout << "test: goto " << dX << ' ' << dY << endl; Goto *g = new GotoSimple (dX, dY); Movement *mov = new MovementGoto (g); m.setMovement (mov); } break; case 'r': { i++; double dA; if (i >= argc) break; dA = atof (argv[i++]); cout << "test: rotation " << dA << endl; Movement *mov = new MovementRotation (dA * 2 * M_PI / 360); m.setMovement (mov); } break; case 'c': { i++; double r, a; if (i >= argc) break; r = atof (argv[i++]); if (i >= argc) break; a = atof (argv[i++]); cout << "test: circle " << r << ' ' << a << endl; Goto *g = new GotoCircle (r, a * 2 * M_PI / 360); Movement *mov = new MovementGoto (g); m.setMovement (mov); } break; case '?': syntax (); return 0; default: int s; s = atoi (argv[i++]); if (s == 0) { syntax (); return 1; } cout << "test: sleep " << s << endl; for (int j = 0; j < s * 1000 / 50; ++j) { m.ok (); Date::wait (50); } break; } m.waitEnd (); } return 0; } catch (Erreur &e) { cerr << e.what () << endl; return 1; } }