From da4a77ff094a0dc74414ec1de2cac08e8b7b60f4 Mon Sep 17 00:00:00 2001 From: haller Date: Thu, 17 Nov 2005 11:10:17 +0000 Subject: Importation brut du code récupérable de robert --- i/marvin/src/motor/test_motor.cc | 163 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 163 insertions(+) create mode 100644 i/marvin/src/motor/test_motor.cc (limited to 'i/marvin/src/motor/test_motor.cc') diff --git a/i/marvin/src/motor/test_motor.cc b/i/marvin/src/motor/test_motor.cc new file mode 100644 index 0000000..137e355 --- /dev/null +++ b/i/marvin/src/motor/test_motor.cc @@ -0,0 +1,163 @@ +// 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() ? "true" : "false") + << std::endl; + break; + 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; + case 'J': + std::cout << "Etat du Jack: " << (motor.jackState() ? "Retiré" : "Dedans") << std::endl; + break; + case 'C': + std::cout << "Couleur Sélectionné: " << (motor.colorState() ? "Rouge" : "Vert") << std::endl; + break; + case 'A': + if(++i > argc) + throw std::runtime_error("syntax error"); + motor.setAccel(strtol(argv[0], 0, 10)); + break; + case 'L': + while(!motor.idle()) + { + motor.wait(-1); + motor.sync(); + } + break; + } + motor.sync(); + while(!motor.idle()) + { + motor.wait(-1); + motor.sync(); + } + 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 (); + motor.sync(); + } + 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; +} -- cgit v1.2.3