00001 #include <iostream>
00002
00003 #include <signal.h>
00004
00005 #include <RFlex.H>
00006
00007
00008 using namespace std;
00009
00010
00011 void button(const int number) {cout << "Button: " << number << endl;}
00012 void axis(const int number) {cout << "Axis: " << number << endl;}
00013
00014
00015 int main() {
00016 #ifdef B21
00017 RFlex rflex("/dev/ttyR0");
00018 #endif
00019
00020 #ifdef ATRV
00021 RFlex rflex("/dev/ttyS0");
00022 #endif
00023
00024 bool sonars = false;
00025 bool brake = false;
00026
00027 double velocity;
00028
00029 char ch = 'a';
00030 while (ch != 'q') {
00031 cout << "\nRequest? " << flush;
00032 cin >> ch;
00033
00034 switch (ch) {
00035 case 's':
00036 sonars = !sonars;
00037 cout << "Sonars ";
00038 if (sonars) {
00039 cout << "on" << endl;
00040 rflex.sonarOn();
00041 } else {
00042 cout << "off" << endl;
00043 rflex.sonarOff();
00044 }
00045 break;
00046
00047 case 'b':
00048 brake = !brake;
00049 cout << "Brake ";
00050 if (brake) {
00051 cout << "on";
00052 rflex.brakeOn();
00053 } else {
00054 cout << "off";
00055 rflex.brakeOff();
00056 }
00057 break;
00058
00059 case 'r':
00060 cin >> velocity;
00061 rflex.motorSetRotateVelocity(velocity);
00062 cout << "Rotate at " << velocity << " radians/sec" << endl;
00063 break;
00064
00065 case 't':
00066 cin >> velocity;
00067 rflex.motorSetTranslateVelocity(velocity);
00068 cout << "Translate at " << velocity << " metres/sec" << endl;
00069 break;
00070
00071 case '0':
00072 cout << "Stopping motion" << endl;
00073 rflex.motorSetRotateVelocity(0.0);
00074 rflex.motorSetTranslateVelocity(0.0);
00075 break;
00076
00077 case 'd':
00078 cout << "Odometry: (" << rflex.x() << ", " << rflex.y() << ") at " << rflex.heading() << " radians" << endl;
00079 cout << "Brake: " << ((rflex.brakeOn())?("on"):("off")) << endl;
00080 cout << "Battery voltage: " << rflex.batteryVoltage() << endl;
00081 cout << "Translate:\n velocity: " << rflex.translateVelocity() << "\n acceleration: " << rflex.translateAcceleration() << "\n torque: " << rflex.translateTorque() << endl;
00082 cout << "Rotate:\n velocity: " << rflex.rotateVelocity() << "\n acceleration: " << rflex.rotateAcceleration() << "\n torque: " << rflex.rotateTorque() << endl;
00083
00084 case 'q':
00085 break;
00086
00087 default:
00088 cerr << "Unknown request: " << ch << endl;
00089 break;
00090 }
00091 }
00092
00093 return 0;
00094 }
