// 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; }