From 80e193a51745540795f7946b6fdccdde3b82602b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 7 Apr 2020 20:30:32 +0200
Subject: [PATCH] Modified the example to interface with the ADC module.
---
src/examples/CMakeLists.txt | 4 +--
src/examples/darwin_adc_test.cpp | 42 +++++++++++++++++---------------
2 files changed, 24 insertions(+), 22 deletions(-)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index db0bf97..f4a656d 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -9,9 +9,9 @@ TARGET_LINK_LIBRARIES(darwin_manager_test darwin_robot)
#TARGET_LINK_LIBRARIES(darwin_gpio_test darwin_robot)
# create an example application
-#ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
+ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
# link necessary libraries
-#TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
+TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
# create an example application
ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)
diff --git a/src/examples/darwin_adc_test.cpp b/src/examples/darwin_adc_test.cpp
index 93ff870..babc607 100644
--- a/src/examples/darwin_adc_test.cpp
+++ b/src/examples/darwin_adc_test.cpp
@@ -1,36 +1,38 @@
-#include "darwin_robot.h"
+#include "darwin_adc.h"
#include "darwin_robot_exceptions.h"
#include <iostream>
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+#ifdef _SIM
+ std::string robot_device="/tmp/darwin_driver";
+#else
+ std::string robot_device="/dev/ttyACM0";
+#endif
int main(int argc, char *argv[])
{
int i=0;
try{
- CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
- std::cout << "found darwin controller" << std::endl;
- darwin.adc_start();
- for(i=0;i<5000;i++)
+ CDarwinADC adc("Darwin",robot_device,1000000,0x01);
+ adc.start();
+ for(i=0;i<50;i++)
{
- std::cout << "Temperature: " << darwin.adc_get_temperature() << std::endl;
- std::cout << "Channel1: " << darwin.adc_get_value(ADC_CH1) << std::endl;
- std::cout << "Channel2: " << darwin.adc_get_value(ADC_CH2) << std::endl;
- std::cout << "Channel3: " << darwin.adc_get_value(ADC_CH3) << std::endl;
- std::cout << "Channel4: " << darwin.adc_get_value(ADC_CH4) << std::endl;
- std::cout << "Channel5: " << darwin.adc_get_value(ADC_CH5) << std::endl;
- std::cout << "Channel6: " << darwin.adc_get_value(ADC_CH6) << std::endl;
- std::cout << "Channel7: " << darwin.adc_get_value(ADC_CH7) << std::endl;
- std::cout << "Channel8: " << darwin.adc_get_value(ADC_CH8) << std::endl;
- std::cout << "Channel9: " << darwin.adc_get_value(ADC_CH9) << std::endl;
- std::cout << "Channel10: " << darwin.adc_get_value(ADC_CH10) << std::endl;
- std::cout << "Channel12: " << darwin.adc_get_value(ADC_CH12) << std::endl;
+ std::cout << "Temperature: " << adc.get_temperature() << std::endl;
+ std::cout << "Channel1: " << adc.get_value(ADC_CH1) << std::endl;
+ std::cout << "Channel2: " << adc.get_value(ADC_CH2) << std::endl;
+ std::cout << "Channel3: " << adc.get_value(ADC_CH3) << std::endl;
+ std::cout << "Channel4: " << adc.get_value(ADC_CH4) << std::endl;
+ std::cout << "Channel5: " << adc.get_value(ADC_CH5) << std::endl;
+ std::cout << "Channel6: " << adc.get_value(ADC_CH6) << std::endl;
+ std::cout << "Channel7: " << adc.get_value(ADC_CH7) << std::endl;
+ std::cout << "Channel8: " << adc.get_value(ADC_CH8) << std::endl;
+ std::cout << "Channel9: " << adc.get_value(ADC_CH9) << std::endl;
+ std::cout << "Channel10: " << adc.get_value(ADC_CH10) << std::endl;
+ std::cout << "Channel12: " << adc.get_value(ADC_CH12) << std::endl;
usleep(100000);
}
- darwin.adc_stop();
+ adc.stop();
}catch(CException &e){
std::cout << e.what() << std::endl;
}
--
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