//Sample Samples/Devices/Motor/C++ #include "ModaCpp.h" #include "conio.h" //Settings: #define MODASERVER "localhost" int main(int argc, char* argv[]) { ModaCPP::Connection *connection=new ModaCPP::Connection(true); //Connect to MODA server if(connection->Connect(MODASERVER)) { _cprintf("Connexion to %s ok\r\n",MODASERVER); //Find the robot ModaCPP::RobotPHX *robot=connection->QueryRobotPHX("/"); if(robot) { _cprintf("robot found in this world\r\n"); ModaCPP::DeviceMotor *pMotorLeft=robot->QueryDeviceMotor("JointLeft/axis/motor"); ModaCPP::DeviceMotor *pMotorRight=robot->QueryDeviceMotor("Jointright/axis/motor"); if(pMotorLeft && pMotorRight) { while(!_kbhit()) { pMotorLeft->SetVelocityDPS(90); pMotorRight->SetVelocityDPS(180); connection->Sleep(4000); pMotorLeft->SetVelocityDPS(180); pMotorRight->SetVelocityDPS(90); connection->Sleep(4000); pMotorLeft->SetVelocityDPS(90); pMotorRight->SetVelocityDPS(-90); connection->Sleep(4000); } delete pMotorLeft; delete pMotorRight; } else { _cprintf("motor(s) not found ...\r\n"); } delete robot; } else { _cprintf("robot not found in this world\r\n"); } } else { _cprintf("Unable to connect to moda server : be sure Exec is running and MODA TCP/UDP ports are open\r\n"); } connection->Disconnect(); delete connection; return 0; }