#include "Modacpp.h" #define MODASERVER "localhost" #define MYROBOTNAME "/myrobot" //*********************************************************** //user custom class, inherits from RobotPHX class MyRobot:public ModaCPP::RobotPHX { private: public: MyRobot(xkode::lib::String Name):RobotPHX(Name) { //The object is not yet created and connected to the system //Do not use QueryDevicexxxx functions ! } virtual ~MyRobot() { } virtual void OnStartup(void) override { //OnStartup is called automatically if robot was found //from a QueryRobotPHX function. //You can here call the QueryDevicexxxx functions } bool MoveMyRobot(float speed) { //create your own robot's functions return(true); } }; //*********************************************************** int main(int argc, char* argv[]) { xkode::lib::String RobotWorldPath="/phx/myrobot0"; xkode::lib::String ModaServer="127.0.0.1"; ModaCPP::Connection *pConnection=new ModaCPP::Connection(true); if(pConnection->Connect(ModaServer)) { MyRobot *pRobot=pConnection->QueryRobotPHX2<MyRobot>(RobotWorldPath); if(pRobot!=NULL) { //The robot is created and all devices are valid //You can use devices and make your robotics loop here delete pRobot; } delete pConnection; } _getch(); return 0; }