anyKode Marilou
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Jacks management.
class DeviceActuatingCylinder : public Device;
ModaCpp.h
The DeviceActuatingCylinder class cannot be created directly by user : it must be obtained by QueryDeviceActuatingCylinder of the class RobotPHX.
The various parameters given to the functions can be interpreted and modified if necessary by the device in order to respect the constraints imposed in modeling.
//Sample from Tutorial1-4 #include "stdafx.h" #include "Modacpp.h" #include "conio.h" #define MODASERVER "localhost" #define MYROBOTNAME "/fighter" void DoFight(ModaCPP::RobotPHX *robot) { ModaCPP::DeviceContact *pContact=robot->QueryDeviceContact("surface/contact"); ModaCPP::DeviceActuatingCylinder *pCylinder=robot->QueryDeviceActuatingCylinder("slider0/axis/jack"); if(pContact && pCylinder) { while(!_kbhit()) { if(pContact->IsTutching()) { pCylinder->GoPosition(-0.1f); robot->Wait(250); pCylinder->GoPosition(0.1f); robot->Wait(250); pCylinder->GoPosition(0.0f); } //update states every 100 ms robot->Sleep(100); } } } int main(int argc, char* argv[]) { ModaCPP::Connection *connection=new ModaCPP::Connection(true); //Try connect to MODA server if(connection->Connect(MODASERVER)) { _cprintf("Connection ok to moda server\r\n"); //Find the robot ModaCPP::RobotPHX *robot=connection->QueryRobotPHX(MYROBOTNAME); if(robot) { _cprintf("robot found\r\n"); DoFight(robot); } else { _cprintf("robot not found\r\n"); } } else { _cprintf("Unable to connect to moda server\r\n"); } //Disconnect & delete connection->Disconnect(); delete connection; _getch(); return 0; }
Documentation v4.7 (18/01/2015), Copyright (c) 2015 anyKode. All rights reserved.
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