From 52b038932918a2479ca8e8cf72e9b5f035876cd7 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 28 Jan 2020 00:39:16 +0100
Subject: [PATCH] Updated the example.
---
src/examples/darwin_manager_test.cpp | 29 +++++++++++++++++++++++-----
1 file changed, 24 insertions(+), 5 deletions(-)
diff --git a/src/examples/darwin_manager_test.cpp b/src/examples/darwin_manager_test.cpp
index 98b6fc8..61bc10e 100644
--- a/src/examples/darwin_manager_test.cpp
+++ b/src/examples/darwin_manager_test.cpp
@@ -9,8 +9,8 @@ std::string robot_device="/tmp/darwin_driver";
int main(int argc, char *argv[])
{
-// int i=0,num_servos;
-// unsigned int present_servos;
+ int i=0,num_servos;
+ unsigned int present_servos;
// std::vector<int> servos;
// std::vector<double> angles,speeds,accels,offsets;
@@ -27,9 +27,28 @@ int main(int argc, char *argv[])
std::cout << "scanning ..." << std::endl;
usleep(100000);
}
- std::cout << "num. devices: " << (int)darwin.manager_get_num_devices() << std::endl;
-// num_servos=darwin.mm_get_num_servos();
-// present_servos=darwin.mm_get_present_servos();
+ num_servos=darwin.manager_get_num_devices();
+ std::cout << "num. devices: " << num_servos << std::endl;
+ present_servos=darwin.mm_get_present_servos();
+ std::cout << "present servos: " << std::hex << present_servos << std::endl;
+ i=0;
+ while(i<num_servos)
+ {
+ if(present_servos&(0x00000001<<i))
+ {
+ darwin.mm_enable_servo(i);
+ darwin.mm_assign_module(i,DARWIN_MM_ACTION);
+ }
+ i++;
+ }
+ darwin.action_load_page(9);
+ darwin.action_start();
+ while(darwin.action_is_page_running())
+ {
+ std::cout << "action running ... " << std::endl;
+ usleep(100000);
+ }
+
// std::cout << "Found " << num_servos << " servos " << std::endl;
// std::cout << "Present servos: " << present_servos << std::hex << "0x" << present_servos << std::dec << std::endl;
// std::cout << "Motion manager period " << darwin.mm_get_period() << " ms" << std::endl;
--
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