Go to the documentation of this file.00001
00002
00003
00005 #include "kniBase.h"
00006 #include <iostream>
00007 #include <cstdio>
00008 #include <memory>
00009 #include <vector>
00010 #include <fstream>
00012 #ifdef WIN32
00013 # include <conio.h>
00014 #else //LINUX
00015 #include "keyboard.h"
00016 #endif
00017 #define LEFT false
00018 #define RIGHT true
00019
00020
00021 struct TPoint {
00022 double X, Y, Z;
00023 double phi, theta, psi;
00024 };
00025 struct TCurrentMot {
00026 int idx;
00027 bool running;
00028 bool dir;
00029 };
00030 struct Tpos{
00031 static std::vector<int> x,y,z,u,v,w;
00032 static const int xArr[], yArr[], zArr[], uArr[], vArr[], wArr[];
00033 };
00035
00036 std::auto_ptr<CLMBase> katana;
00037 int retVal = 0;
00038 const double PI = 3.14159265358979323846;
00040 int main(int argc, char *argv[]) {
00041 if (argc != 3) {
00042 std::cout << "---------------------------------\n";
00043 std::cout << "usage for socket connection: socketcontrol CONFIGFILE IP_ADDR\n";
00044 std::cout << "---------------------------------\n";
00045 return 0;
00046 }
00047 std::cout << "--------------------------\n";
00048 std::cout << "SOCKETCONTROL DEMO STARTED\n";
00049 std::cout << "--------------------------\n";
00050 std::auto_ptr<CCdlSocket> device;
00051 std::auto_ptr<CCplSerialCRC> protocol;
00052 try {
00053 int port = 5566;
00054 device.reset(new CCdlSocket(argv[2], port));
00055 std::cout << "-------------------------------------------\n";
00056 std::cout << "success: port " << port << " open\n";
00057 std::cout << "-------------------------------------------\n";
00058 protocol.reset(new CCplSerialCRC());
00059 std::cout << "-------------------------------------------\n";
00060 std::cout << "success: protocol class instantiated\n";
00061 std::cout << "-------------------------------------------\n";
00062 protocol->init(device.get());
00063 std::cout << "-------------------------------------------\n";
00064 std::cout << "success: communication with Katana initialized\n";
00065 std::cout << "-------------------------------------------\n";
00066 katana.reset(new CLMBase());
00067 katana->create(argv[1], protocol.get());
00068 } catch(Exception &e) {
00069 std::cout << "ERROR: " << e.message() << std::endl;
00070 return -1;
00071 }
00072 std::cout << "-------------------------------------------\n";
00073 std::cout << "success: katana initialized\n";
00074 std::cout << "-------------------------------------------\n";
00075 std::vector<int> encoders(katana->getNumberOfMotors(), 0);
00076 TCurrentMot mot[6];
00077 for (int i = 0; i< 6; i++){
00078 mot[i].running = false;
00079 mot[i].idx = i;
00080 mot[i].dir = true;
00081 mot[i].dir = RIGHT;
00082 }
00083
00084 try{
00085 katana->setMaximumLinearVelocity(60);
00086 katana->calibrate();
00087
00088 }
00089 catch(...){
00090 std::cout << "-------------------------------------------\n";
00091 std::cout << "An exception occurred while communicating with the Katana.\n";
00092 std::cout << "-------------------------------------------\n";
00093 }
00094 return 0;
00095 }