// test_robot.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 "date/date.h" #include "io/gpio_asserv.h" #include "io/gpio_concat.h" #include "io/gpio_servo_pp.h" #include "io/io_cmd.h" #include "io/servo.h" #include "motor/asserv.h" #include "motor/motor_cmd.h" #include "motor/motor.h" #include #include #include #include void syntax (void) { std::cout << "test_robot - teste tout le robot.\n" << motorHelp << ioHelp << " attend (ms)\n" " ? cet ecran d'aide" << std::endl; } int main (int argc, char **argv) { try { Motor m; GpioServoPp gspp; GpioAsserv ga (m.getAsserv ()); GpioConcat gc (ga, gspp, ga.getNbIo ()); int i = 1; while (i < argc) { if (!ioCmd (argc, argv, i, gc, gspp) && !motorCmd (argc, argv, i, m)) { switch (argv[i][0]) { case '?': syntax (); return 0; default: int s; s = atoi (argv[i++]); if (s == 0) { syntax (); return 1; } cout << "test: sleep " << s << endl; int start; start = Date::getInstance ().start (); while (Date::getInstance ().start () < start + s) { m.ok (); Date::wait (50); } break; } } m.waitEnd (); gspp.update (); } return 0; } catch (const std::exception &e) { std::cerr << e.what () << std::endl; return 1; } }