Modified the examples to use the simulator.

src/examples/darwin_head_tracking_test.cpp

@@ -3,8 +3,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 
 int main(int argc, char *argv[])
 {
@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
 
     num_servos=darwin.mm_get_num_servos();
     present_servos=darwin.mm_get_present_servos();

src/examples/darwin_joint_motion_test.cpp

@@ -3,8 +3,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 
 int main(int argc, char *argv[])
 {
@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
     num_servos=darwin.mm_get_num_servos();
     std::cout << "Found " << num_servos << " servos " << std::endl;
     present_servos=darwin.mm_get_present_servos();
@@ -35,17 +35,9 @@ int main(int argc, char *argv[])
       angles.clear();
       speeds.clear();
       accels.clear();
-      servos.push_back(23);
-      servos.push_back(22);
       servos.push_back(19);
       angles.push_back(45.0);
-      angles.push_back(45.0);
-      angles.push_back(45.0);
-      speeds.push_back(50.0);
       speeds.push_back(50.0);
-      speeds.push_back(50.0);
-      accels.push_back(50.0);
-      accels.push_back(50.0);
       accels.push_back(50.0);
       std::cout << "Start joint_motion ..." << std::endl;
       darwin.joints_load(JOINTS_GRP0,servos,angles,speeds,accels);
@@ -59,17 +51,9 @@ int main(int argc, char *argv[])
       angles.clear();
       speeds.clear();
       accels.clear();
-      servos.push_back(23);
-      servos.push_back(22);
       servos.push_back(19);
       angles.push_back(-45.0);
-      angles.push_back(-45.0);
-      angles.push_back(-45.0);
-      speeds.push_back(50.0);
       speeds.push_back(50.0);
-      speeds.push_back(50.0);
-      accels.push_back(50.0);
-      accels.push_back(50.0);
       accels.push_back(50.0);
       darwin.joints_load(JOINTS_GRP0,servos,angles,speeds,accels);
       darwin.joints_start(JOINTS_GRP0);

src/examples/darwin_walking_test.cpp

@@ -4,7 +4,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 //std::string robot_device="A4008atn";
 
 int main(int argc, char *argv[])
@@ -14,7 +15,7 @@ int main(int argc, char *argv[])
   unsigned int present_servos;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
     num_servos=darwin.mm_get_num_servos();
     present_servos=darwin.mm_get_present_servos();
     std::cout << "Found " << num_servos << " servos" << std::endl;
@@ -47,9 +48,9 @@ int main(int argc, char *argv[])
     std::cout << "Start walking ..." << std::endl;
     darwin.walk_set_x_step(0.0);
     darwin.walk_set_y_step(0.0);
-    darwin.walk_set_turn_step(0.01);
+    darwin.walk_set_turn_step(0.04);
     darwin.walk_start();
-    sleep(2);
+    sleep(10);
     std::cout << "Stop walking ..." << std::endl;
     darwin.walk_stop();
     while(darwin.is_walking())