run-test.c

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <ypspur.h>

int main(int argc, char *argv[])
{
  double x, y, theta;

  // Windows環境で標準出力がバッファリングされないように設定
  setvbuf(stdout, 0, _IONBF, 0);

  // 初期化
  if (Spur_init() < 0)
  {
    fprintf(stderr, "ERROR : cannot open spur.\n");
    return -1;
  }

  Spur_set_vel(0.2);
  Spur_set_accel(1.0);
  Spur_set_angvel(M_PI / 2.0);
  Spur_set_angaccel(M_PI / 2.0);

  Spur_set_pos_GL(0, 0, 0);
  printf("line\n");
  // 走行
  Spur_stop_line_GL(1.0, 0, 0);
  while (!Spur_over_line_GL(1.0 - 0.005, 0.0, 0.0))
    usleep(100000);

  // 回転
  printf("spin\n");
  Spur_spin_GL(M_PI / 2);
  while (!Spur_near_ang_GL(M_PI / 2, M_PI / 18.0))
    usleep(100000);

  // ちょっと加速
  Spur_set_vel(0.3);
  Spur_set_accel(1.0);
  Spur_set_angvel(M_PI);
  Spur_set_angaccel(M_PI);

  // 走行
  Spur_stop_line_GL(1.0, 0.1, M_PI / 2.0);
  while (!Spur_over_line_GL(1.0, 0.1 - 0.005, M_PI / 2.0))
    usleep(100000);

  // 回転
  printf("spin\n");
  Spur_spin_GL(M_PI);
  while (!Spur_near_ang_GL(M_PI, M_PI / 18.0))
    usleep(100000);

  // 走行
  printf("line\n");
  Spur_stop_line_GL(0, 0.1, M_PI);
  while (!Spur_over_line_GL(0.0 + 0.005, 0.1, M_PI))
    usleep(100000);

  // 回転
  printf("spin\n");
  Spur_spin_GL(-M_PI / 2.0);
  while (!Spur_near_ang_GL(-M_PI / 2.0, M_PI / 18.0))
    usleep(100000);

  // 走行
  printf("line\n");
  Spur_stop_line_GL(0, 0.0, -M_PI / 2.0);
  while (!Spur_over_line_GL(0.0, 0.0 + 0.005, -M_PI / 2.0))
    usleep(100000);

  // 回転
  printf("spin\n");
  Spur_spin_GL(0);
  while (!Spur_near_ang_GL(0, M_PI / 18.0))
    usleep(100000);

  Spur_stop();
  usleep(4000000);
  Spur_free();
  printf("Hit Ctrl-C to exit.\n");
  while (1)
  {
    Spur_get_pos_GL(&x, &y, &theta);
    printf("%f %f %f\n", x, y, theta * 180.0 / M_PI);
    usleep(1000000);
  }

  return 0;
}