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path: root/i/chuck/src/motor/test_motor.cc
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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 ("avoid",Interpreter::memFunc(motor_,&Motor::avoidrobot),"j evite un super robot");
	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;
      }
}