From 9bd6cebd3a11bf4819023d4880e42d89cbe6d79e Mon Sep 17 00:00:00 2001
From: ferranmafe <darwin@darwin.users.iri.prv>
Date: Thu, 31 Aug 2017 18:57:02 +0200
Subject: [PATCH] Added a test for the grippers module.
---
src/examples/CMakeLists.txt | 7 ++++++-
src/examples/darwin_gripper_test.cpp | 7 +++----
2 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index f505e95..795bccb 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -53,4 +53,9 @@ ENDIF(KDL_FOUND)
# create an example application
ADD_EXECUTABLE(darwin_smart_charger_test darwin_smart_charger_test.cpp)
# link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
\ No newline at end of file
+TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
+
+# create an example application
+ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)
diff --git a/src/examples/darwin_gripper_test.cpp b/src/examples/darwin_gripper_test.cpp
index 90b49a7..eff801d 100644
--- a/src/examples/darwin_gripper_test.cpp
+++ b/src/examples/darwin_gripper_test.cpp
@@ -7,14 +7,13 @@ std::string robot_device="A603LOBS";
int main(int argc, char *argv[])
{
- int i=0,num_v1_servos,num_v2_servos;
std::vector<double> angles;
try{
- CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
- darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
- std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;
+ CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+ std::cout << "Found " << darwin.mm_get_num_servos() << " servos" << std::endl;
darwin.mm_enable_power();
+ darwin.mm_enable_power_v2();
darwin.mm_enable_servo(24);
darwin.mm_assign_module(24,DARWIN_MM_GRIPPER);
darwin.mm_enable_servo(21);
--
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