// 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 #include #include 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; } }