From 7567fc738271c5a6c9c75697b178da4489fbe196 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 7 Oct 2016 08:42:34 +0200
Subject: [PATCH] Updated the serial number of the new CM730 controller. Minor
changes to some of the examples.
---
src/examples/darwin_action_test.cpp | 4 ++--
src/examples/darwin_adc_test.cpp | 4 ++--
src/examples/darwin_joint_motion_test.cpp | 24 ++++++++++++++++++++---
src/examples/darwin_manager_test.cpp | 11 ++++++-----
4 files changed, 31 insertions(+), 12 deletions(-)
diff --git a/src/examples/darwin_action_test.cpp b/src/examples/darwin_action_test.cpp
index 740e75f..98fd7df 100644
--- a/src/examples/darwin_action_test.cpp
+++ b/src/examples/darwin_action_test.cpp
@@ -4,8 +4,8 @@
#include <iostream>
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
int main(int argc, char *argv[])
{
diff --git a/src/examples/darwin_adc_test.cpp b/src/examples/darwin_adc_test.cpp
index de3b241..adbf5bd 100644
--- a/src/examples/darwin_adc_test.cpp
+++ b/src/examples/darwin_adc_test.cpp
@@ -3,8 +3,8 @@
#include <iostream>
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
int main(int argc, char *argv[])
{
diff --git a/src/examples/darwin_joint_motion_test.cpp b/src/examples/darwin_joint_motion_test.cpp
index 20a39c8..64d0a27 100644
--- a/src/examples/darwin_joint_motion_test.cpp
+++ b/src/examples/darwin_joint_motion_test.cpp
@@ -35,23 +35,41 @@ 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);
darwin.joints_start(JOINTS_GRP0);
- sleep(2);
- darwin.joints_stop(JOINTS_GRP0);
- std::cout << "done" << std::endl;
+ while(darwin.joints_are_moving(JOINTS_GRP0))
+ {
+ std::cout << "moving joints ..." << std::endl;
+ usleep(100000);
+ }
servos.clear();
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);
diff --git a/src/examples/darwin_manager_test.cpp b/src/examples/darwin_manager_test.cpp
index 7b3fd22..3093084 100644
--- a/src/examples/darwin_manager_test.cpp
+++ b/src/examples/darwin_manager_test.cpp
@@ -3,21 +3,22 @@
#include <iostream>
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
-std::string config_file="../src/xml/darwin_action.xml";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
int main(int argc, char *argv[])
{
int i=0,num_servos;
+ unsigned int present_servos;
std::vector<int> servos;
std::vector<double> angles,speeds,accels,offsets;
try{
CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
- darwin.mm_load_config(config_file);
num_servos=darwin.mm_get_num_servos();
- std::cout << "Found " << num_servos << " servos" << std::endl;
+ present_servos=darwin.mm_get_present_servos();
+ 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;
// execute the walk ready action
std::cout << "Assign servos to the action module" << std::endl;
--
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