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// 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 <iostream>
#include <unistd.h>
#include <stdlib.h>
#include <math.h>

using namespace std;

int
main (int argc, char **argv)
{
    try
      {
	Motor m;
	int i = 1;
	while (i < argc)
	  {
	    switch (argv[i][0])
	      {
	      case 'g':
		cout << "go" << endl;
		i++;
		m.go ();
		break;
	      case 'G':
		cout << "ungo" << endl;
		i++;
		m.go (false);
		break;
	      case 'w':
		cout << "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 << "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 << "goto " << dX << ' ' << dY << endl;
		    Movement *mov = new MovementGoTo (dX, dY, 10.0, 0.0,
						      1.0, 1.5,
						      0.1, 0.1,
						      0.7, 0.7);
		    m.setMovement (mov);
		  }
		break;
	      default:
		int s;
		s = atoi (argv[i++]);
		cout << "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;
      }
}