From 7156f624672347a2aad73160c94ac28e034383cd Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 31 Mar 2020 18:06:27 +0200
Subject: [PATCH] Used only the Serial Dynamixel Server version. REmoved the
sim parameter from the constructor.
---
include/darwin_action.h | 2 +-
include/darwin_balance.h | 2 +-
include/darwin_dyn_manager.h | 2 +-
include/darwin_head_tracking.h | 2 +-
include/darwin_imu.h | 2 +-
include/darwin_joint_motion.h | 2 +-
include/darwin_mmanager.h | 2 +-
include/darwin_robot_base.h | 5 ++-
include/darwin_walk.h | 2 +-
src/CMakeLists.txt | 5 +++
src/darwin_action.cpp | 2 +-
src/darwin_balance.cpp | 2 +-
src/darwin_dyn_manager.cpp | 2 +-
src/darwin_head_tracking.cpp | 2 +-
src/darwin_imu.cpp | 2 +-
src/darwin_joint_motion.cpp | 2 +-
src/darwin_mmanager.cpp | 2 +-
src/darwin_robot_base.cpp | 40 +++++-----------------
src/darwin_walk.cpp | 2 +-
src/examples/darwin_action_test.cpp | 10 ++++--
src/examples/darwin_head_tracking_test.cpp | 10 ++++--
src/examples/darwin_imu_test.cpp | 8 +++--
src/examples/darwin_joint_motion_test.cpp | 10 ++++--
src/examples/darwin_manager_test.cpp | 8 +++--
src/examples/darwin_walking_test.cpp | 16 +++++----
25 files changed, 75 insertions(+), 69 deletions(-)
diff --git a/include/darwin_action.h b/include/darwin_action.h
index cfd4793..d1c1160 100644
--- a/include/darwin_action.h
+++ b/include/darwin_action.h
@@ -7,7 +7,7 @@
class CDarwinAction : public CDarwinRobotBase
{
public:
- CDarwinAction(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinAction(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void load_page(unsigned char page_id);
unsigned char get_current_page(void);
unsigned char get_current_step(void);
diff --git a/include/darwin_balance.h b/include/darwin_balance.h
index 053af76..ff0ac39 100644
--- a/include/darwin_balance.h
+++ b/include/darwin_balance.h
@@ -9,7 +9,7 @@ typedef enum {FWD_FALL=0,BWD_FALL=1,STANDING=2} fall_t;
class CDarwinBalance : public CDarwinRobotBase
{
public:
- CDarwinBalance(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinBalance(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void enable(void);
void disable(void);
bool is_enabled(void);
diff --git a/include/darwin_dyn_manager.h b/include/darwin_dyn_manager.h
index d5804c6..f66ceed 100644
--- a/include/darwin_dyn_manager.h
+++ b/include/darwin_dyn_manager.h
@@ -10,7 +10,7 @@ class CDarwinDynManager : public CDarwinRobotBase
double manager_period;
unsigned char num_devices;
public:
- CDarwinDynManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinDynManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
double get_base_period(void);
void set_base_period(double period_s);
unsigned int get_num_modules(void);
diff --git a/include/darwin_head_tracking.h b/include/darwin_head_tracking.h
index 8ce3a4e..fe94346 100644
--- a/include/darwin_head_tracking.h
+++ b/include/darwin_head_tracking.h
@@ -7,7 +7,7 @@
class CDarwinHeadTracking : public CDarwinRobotBase
{
public:
- CDarwinHeadTracking(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinHeadTracking(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void set_pan_pid(double p,double i,double d,double i_clamp);
void get_pan_pid(double *p,double *i,double *d,double *i_clamp);
void set_tilt_pid(double p,double i,double d,double i_clamp);
diff --git a/include/darwin_imu.h b/include/darwin_imu.h
index 05dcec3..2bcde08 100644
--- a/include/darwin_imu.h
+++ b/include/darwin_imu.h
@@ -7,7 +7,7 @@
class CDarwinIMU : public CDarwinRobotBase
{
public:
- CDarwinIMU(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinIMU(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void start(void);
void stop(void);
void start_gyro_cal(void);
diff --git a/include/darwin_joint_motion.h b/include/darwin_joint_motion.h
index 90d491e..cd51592 100644
--- a/include/darwin_joint_motion.h
+++ b/include/darwin_joint_motion.h
@@ -9,7 +9,7 @@ typedef enum {JOINTS_GRP0=0,JOINTS_GRP1=1,JOINTS_GRP2=2,JOINTS_GRP3=2} joints_gr
class CDarwinJointMotion : public CDarwinRobotBase
{
public:
- CDarwinJointMotion(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinJointMotion(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void load(joints_grp_t group,std::vector<unsigned char> &servos,std::vector<double> &angles,std::vector<double> &speeds,std::vector<double> &accels);
std::vector<unsigned char> get_group_servos(joints_grp_t group);
std::vector<double> get_group_angles(joints_grp_t group);
diff --git a/include/darwin_mmanager.h b/include/darwin_mmanager.h
index 91307d5..1166724 100644
--- a/include/darwin_mmanager.h
+++ b/include/darwin_mmanager.h
@@ -15,7 +15,7 @@ class CDarwinMManager : public CDarwinDynManager
protected:
double mmanager_period;
public:
- CDarwinMManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinMManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
unsigned int get_present_servos(void);
void set_period(double period_s);
double get_period(void);
diff --git a/include/darwin_robot_base.h b/include/darwin_robot_base.h
index a4c3610..cc2c4f6 100644
--- a/include/darwin_robot_base.h
+++ b/include/darwin_robot_base.h
@@ -2,19 +2,18 @@
#define _DARWIN_ROBOT_BASE_H
#include "dynamixel.h"
-#include "dynamixelserver_ftdi.h"
#include "dynamixelserver_serial.h"
#include "darwin_registers.h"
class CDarwinRobotBase
{
protected:
- CDynamixelServer *dyn_server;
+ CDynamixelServerSerial *dyn_server;
CDynamixel *robot_device;
std::string robot_name;
unsigned char robot_id;
public:
- CDarwinRobotBase(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinRobotBase(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void is_valid(void);
virtual ~CDarwinRobotBase();
};
diff --git a/include/darwin_walk.h b/include/darwin_walk.h
index d40d1d1..0b669bb 100644
--- a/include/darwin_walk.h
+++ b/include/darwin_walk.h
@@ -7,7 +7,7 @@
class CDarwinWalk : public CDarwinRobotBase
{
public:
- CDarwinWalk(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim=false);
+ CDarwinWalk(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
void set_x_offset(double offset_m);
double get_x_offset(void);
void set_y_offset(double offset_m);
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2682c6b..c2497d6 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -17,6 +17,7 @@ SET(robot_headers ../include/darwin_robot_base.h ../include/darwin_robot_excepti
# locate the necessary dependencies
FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(comm REQUIRED)
FIND_PACKAGE(dynamixel REQUIRED)
FIND_PACKAGE(Eigen3 REQUIRED)
@@ -34,9 +35,12 @@ IF(EIGEN3_FOUND)
SET(kin_leg_headers ../include/darwin_leg_kinematics.h ../include/darwin_robot_exceptions.h)
ENDIF(EIGEN3_FOUND)
+#ADD_DEFINITIONS(-D_SIM)
+
# add the necessary include directories
INCLUDE_DIRECTORIES(../include)
INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
# create the shared library
@@ -44,6 +48,7 @@ ADD_LIBRARY(darwin_robot SHARED ${robot_sources} ${XSD_SOURCES})
ADD_DEPENDENCIES(darwin_robot xsd_files_gen)
# link necessary libraries
TARGET_LINK_LIBRARIES(darwin_robot ${iriutils_LIBRARY})
+TARGET_LINK_LIBRARIES(darwin_robot ${comm_LIBRARY})
TARGET_LINK_LIBRARIES(darwin_robot ${dynamixel_LIBRARY})
TARGET_LINK_LIBRARIES(darwin_robot ${XSD_LIBRARY})
diff --git a/src/darwin_action.cpp b/src/darwin_action.cpp
index 4c16e46..31dfb8d 100644
--- a/src/darwin_action.cpp
+++ b/src/darwin_action.cpp
@@ -1,7 +1,7 @@
#include "darwin_action.h"
#include "darwin_robot_exceptions.h"
-CDarwinAction::CDarwinAction(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinAction::CDarwinAction(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/darwin_balance.cpp b/src/darwin_balance.cpp
index ae246dd..4673202 100644
--- a/src/darwin_balance.cpp
+++ b/src/darwin_balance.cpp
@@ -1,7 +1,7 @@
#include "darwin_balance.h"
#include "darwin_robot_exceptions.h"
-CDarwinBalance::CDarwinBalance(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinBalance::CDarwinBalance(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/darwin_dyn_manager.cpp b/src/darwin_dyn_manager.cpp
index 096ab43..f81fd93 100644
--- a/src/darwin_dyn_manager.cpp
+++ b/src/darwin_dyn_manager.cpp
@@ -1,7 +1,7 @@
#include "darwin_dyn_manager.h"
#include "darwin_robot_exceptions.h"
-CDarwinDynManager::CDarwinDynManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinDynManager::CDarwinDynManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
this->manager_period=this->get_base_period();
}
diff --git a/src/darwin_head_tracking.cpp b/src/darwin_head_tracking.cpp
index 1b1119a..27d6f9b 100644
--- a/src/darwin_head_tracking.cpp
+++ b/src/darwin_head_tracking.cpp
@@ -1,7 +1,7 @@
#include "darwin_head_tracking.h"
#include "darwin_robot_exceptions.h"
-CDarwinHeadTracking::CDarwinHeadTracking(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinHeadTracking::CDarwinHeadTracking(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/darwin_imu.cpp b/src/darwin_imu.cpp
index db357a8..703666c 100644
--- a/src/darwin_imu.cpp
+++ b/src/darwin_imu.cpp
@@ -1,7 +1,7 @@
#include "darwin_imu.h"
#include "darwin_robot_exceptions.h"
-CDarwinIMU::CDarwinIMU(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinIMU::CDarwinIMU(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/darwin_joint_motion.cpp b/src/darwin_joint_motion.cpp
index 222ebf8..872021a 100644
--- a/src/darwin_joint_motion.cpp
+++ b/src/darwin_joint_motion.cpp
@@ -1,7 +1,7 @@
#include "darwin_joint_motion.h"
#include "darwin_robot_exceptions.h"
-CDarwinJointMotion::CDarwinJointMotion(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinJointMotion::CDarwinJointMotion(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/darwin_mmanager.cpp b/src/darwin_mmanager.cpp
index b03294b..1395e55 100644
--- a/src/darwin_mmanager.cpp
+++ b/src/darwin_mmanager.cpp
@@ -36,7 +36,7 @@ const std::string servo_names[MAX_NUM_SERVOS]={std::string("Servo0"),
std::string("Servo29"),
std::string("Servo30")};
-CDarwinMManager::CDarwinMManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinDynManager(name,bus_id,bus_speed,id,sim)
+CDarwinMManager::CDarwinMManager(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinDynManager(name,bus_id,bus_speed,id)
{
this->mmanager_period=this->get_period();
}
diff --git a/src/darwin_robot_base.cpp b/src/darwin_robot_base.cpp
index 1f34197..5faf9d6 100644
--- a/src/darwin_robot_base.cpp
+++ b/src/darwin_robot_base.cpp
@@ -2,42 +2,20 @@
#include "darwin_robot_exceptions.h"
#include "dynamixelexceptions.h"
-CDarwinRobotBase::CDarwinRobotBase(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim)
+CDarwinRobotBase::CDarwinRobotBase(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id)
{
- int num_buses;
-
this->robot_device=NULL;
if(name!="")
{
this->robot_name=name;
- if(sim)
- {
- this->dyn_server=CDynamixelServerSerial::instance();
- ((CDynamixelServerSerial *)this->dyn_server)->config_bus(bus_id,bus_speed);
- num_buses=1;
- }
- else
- {
- this->dyn_server=CDynamixelServerFTDI::instance();
- num_buses=((CDynamixelServerFTDI *)this->dyn_server)->get_num_buses();
- if(num_buses>0)
- ((CDynamixelServerFTDI *)this->dyn_server)->config_bus(bus_id,bus_speed);
- }
- if(num_buses>0)
- {
- sleep(1);
- try{
- this->robot_device=dyn_server->get_device(id,dyn_version2);
- this->robot_id=id;
- }catch(CDynamixelServerException &e){
- this->dyn_server->free_device(id);
- throw e;
- }
- }
- else
- {
- /* handle exceptions */
- throw CDarwinRobotException(_HERE_,"No FTDI USB devices found");
+ this->dyn_server=CDynamixelServerSerial::instance();
+ this->dyn_server->config_bus(bus_id,bus_speed);
+ try{
+ this->robot_device=dyn_server->get_device(id,dyn_version2);
+ this->robot_id=id;
+ }catch(CDynamixelServerException &e){
+ this->dyn_server->free_device(id);
+ throw e;
}
}
else
diff --git a/src/darwin_walk.cpp b/src/darwin_walk.cpp
index 2c84fc8..40a2e03 100644
--- a/src/darwin_walk.cpp
+++ b/src/darwin_walk.cpp
@@ -3,7 +3,7 @@
#define PI 3.14159
-CDarwinWalk::CDarwinWalk(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id,bool sim) : CDarwinRobotBase(name,bus_id,bus_speed,id,sim)
+CDarwinWalk::CDarwinWalk(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id) : CDarwinRobotBase(name,bus_id,bus_speed,id)
{
}
diff --git a/src/examples/darwin_action_test.cpp b/src/examples/darwin_action_test.cpp
index 777b3b9..3f49301 100644
--- a/src/examples/darwin_action_test.cpp
+++ b/src/examples/darwin_action_test.cpp
@@ -4,7 +4,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -12,8 +16,8 @@ int main(int argc, char *argv[])
unsigned int present_servos;
try{
- CDarwinMManager darwin("Darwin",robot_device,1000000,0x01,true);
- CDarwinAction action("Darwin",robot_device,1000000,0x01,true);
+ CDarwinMManager darwin("Darwin",robot_device,1000000,0x01);
+ CDarwinAction action("Darwin",robot_device,1000000,0x01);
std::cout << "Manager period: " << darwin.get_base_period() << std::endl;
std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
diff --git a/src/examples/darwin_head_tracking_test.cpp b/src/examples/darwin_head_tracking_test.cpp
index 6dcb357..948d856 100644
--- a/src/examples/darwin_head_tracking_test.cpp
+++ b/src/examples/darwin_head_tracking_test.cpp
@@ -4,7 +4,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -12,8 +16,8 @@ int main(int argc, char *argv[])
unsigned int present_servos;
try{
- CDarwinMManager darwin("Darwin",robot_device,1000000,0x01,true);
- CDarwinHeadTracking head("Darwin",robot_device,1000000,0x01,true);
+ CDarwinMManager darwin("Darwin",robot_device,1000000,0x01);
+ CDarwinHeadTracking head("Darwin",robot_device,1000000,0x01);
std::cout << "Manager period: " << darwin.get_base_period() << std::endl;
std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
diff --git a/src/examples/darwin_imu_test.cpp b/src/examples/darwin_imu_test.cpp
index 741bfaf..d911ad8 100644
--- a/src/examples/darwin_imu_test.cpp
+++ b/src/examples/darwin_imu_test.cpp
@@ -3,7 +3,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -12,7 +16,7 @@ int main(int argc, char *argv[])
double accel_x,accel_y,accel_z;
try{
- CDarwinIMU darwin_imu("Darwin",robot_device,1000000,0x01,true);
+ CDarwinIMU darwin_imu("Darwin",robot_device,1000000,0x01);
std::cout << "found darwin controller" << std::endl;
std::cout << "Number of calibration samples: " << darwin_imu.get_cal_samples() << std::endl;
darwin_imu.start();
diff --git a/src/examples/darwin_joint_motion_test.cpp b/src/examples/darwin_joint_motion_test.cpp
index 30473d7..fcec1a0 100644
--- a/src/examples/darwin_joint_motion_test.cpp
+++ b/src/examples/darwin_joint_motion_test.cpp
@@ -4,7 +4,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -14,8 +18,8 @@ int main(int argc, char *argv[])
std::vector<double> angles,speeds,accels;
try{
- CDarwinMManager darwin("Darwin",robot_device,1000000,0x01,true);
- CDarwinJointMotion joints("Darwin",robot_device,1000000,0x01,true);
+ CDarwinMManager darwin("Darwin",robot_device,1000000,0x01);
+ CDarwinJointMotion joints("Darwin",robot_device,1000000,0x01);
std::cout << "Manager period: " << darwin.get_base_period() << std::endl;
std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
diff --git a/src/examples/darwin_manager_test.cpp b/src/examples/darwin_manager_test.cpp
index bbe8889..26a5fd1 100644
--- a/src/examples/darwin_manager_test.cpp
+++ b/src/examples/darwin_manager_test.cpp
@@ -3,7 +3,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -12,7 +16,7 @@ int main(int argc, char *argv[])
std::vector<double> offsets,angles;
try{
- CDarwinMManager darwin("Darwin",robot_device,1000000,0x01,true);
+ CDarwinMManager darwin("Darwin",robot_device,100000,1);
std::cout << "Manager period: " << darwin.get_base_period() << std::endl;
std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
diff --git a/src/examples/darwin_walking_test.cpp b/src/examples/darwin_walking_test.cpp
index 64ae187..095108d 100644
--- a/src/examples/darwin_walking_test.cpp
+++ b/src/examples/darwin_walking_test.cpp
@@ -7,7 +7,11 @@
#include <iostream>
-std::string robot_device="/tmp/darwin_driver";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
@@ -15,11 +19,11 @@ int main(int argc, char *argv[])
unsigned int present_servos;
try{
- CDarwinMManager darwin("Darwin",robot_device,1000000,0x01,true);
- CDarwinAction action("Darwin",robot_device,1000000,0x01,true);
- CDarwinIMU imu("Darwin",robot_device,1000000,0x01,true);
- CDarwinBalance balance("Darwin",robot_device,1000000,0x01,true);
- CDarwinWalk walk("Darwin",robot_device,1000000,0x01,true);
+ CDarwinMManager darwin("Darwin",robot_device,1000000,0x01);
+ CDarwinAction action("Darwin",robot_device,1000000,0x01);
+ CDarwinIMU imu("Darwin",robot_device,1000000,0x01);
+ CDarwinBalance balance("Darwin",robot_device,1000000,0x01);
+ CDarwinWalk walk("Darwin",robot_device,1000000,0x01);
std::cout << "Manager period: " << darwin.get_base_period() << std::endl;
std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
--
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