//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; }