WURDE: /home/fwph/code/wurde/modules/rFlexBase/rFlexTest.cpp Source File

00001 #include <CommsManager.H>
00002 #include <RobotDrive.H>
00003 #include <Egomotion.H>
00004 #include <cmath>
00005 
00006 using namespace WURDE;
00007 using namespace std;
00008 
00009 CommsManager myManager("rFlexTester");
00010 
00011 void handler(int signum){
00012        myManager.setQuit();
00013 }
00014 
00015 int main(int argc, char *argv[]){
00016 
00017 
00018        Logger myLogger("rFlexTester");
00019        RobotDrive myDrive("TomRFlexDrive");
00020        Egomotion myEgomotion("TomRFlexMotion");
00021        
00022        myManager.registerConsumer(&myDrive);
00023        myManager.registerConsumer(&myEgomotion);
00024 
00025        while(myManager.runUpdate()==STATE_RUN||
00026              myManager.getState()==STATE_IDLE){
00027 
00028               /*              myDrive.requests.trans.setValue(0.2);
00029               myDrive.requests.angular.setValue(1.0);
00030               myDrive.publishRequest();*/
00031 
00032               if(myEgomotion.newData()){
00033                      myEgomotion.getNextData();
00034                      cout << "Egomotion reports: " << myEgomotion.data.location.x() << ","
00035                           << myEgomotion.data.location.y() << " at " << myEgomotion.data.location.theta() 
00036                           << " radians" << endl;
00037               }
00038 
00039        }
00040 
00041        myDrive.requests.trans.setValue(0);
00042        myDrive.requests.angular.setValue(0);
00043        myDrive.publishRequest();
00044 
00045        myManager.cleanUp();
00046 
00047        return 0;
00048 }