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+// test_motor.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Schodet
+//
+// 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 "motor.hh"
+#include "tester/tester.hh"
+#include "timer/timer.hh"
+
+#include <iostream>
+#include <exception>
+#include <iomanip>
+
+class TestMotor : public Tester
+{
+ private:
+ Motor motor_;
+ public:
+ /// Constructor.
+ TestMotor (int argc, char **argv)
+ : Tester (argc, argv)
+ { }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
+ {
+ motor_.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ }
+ /// Called after each command called.
+ void postcall (void)
+ {
+ while (!motor_.wait () || !motor_.finish ())
+ ;
+ }
+ /// Executed before checking/running commands. Good place to add command
+ /// to the interpreter.
+ void preRun (void)
+ {
+ Interpreter &i = getInterpreter ();
+ i.add ("wait", Interpreter::memFunc (*this, &TestMotor::wait),
+ "wait MS\nwait for a delay in millisecond");
+ i.add ("move", Interpreter::memFunc (motor_, &Motor::move),
+ "move T(mm) A(mm)\n"
+ "linear and angular move");
+ i.add ("rotate", Interpreter::memFunc (motor_, &Motor::rotate),
+ "rotate A(rad)\n"
+ "rotate round axis center");
+ i.add ("findHole", Interpreter::memFunc (motor_, &Motor::findHole),
+ "findHole\nfind a hole");
+ i.add ("stop", Interpreter::memFunc (motor_, &Motor::stop),
+ "stop\nguess what");
+ i.add ("_postcall",
+ Interpreter::memFunc (*this, &TestMotor::postcall));
+ }
+ /// Executed after running commands.
+ void postRun (void)
+ {
+ motor_.getAsserv ().reset ();
+ }
+};
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ TestMotor tm (argc, argv);
+ tm.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}