vita.aeterna/Robotino
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Vita Aeterna 2022-12-21 08:29:02 +01:00 committed by GitHub
parent 7febd48419
commit fe1620002b
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1 changed files with 61 additions and 32 deletions
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@ -116,8 +116,58 @@ void init( const std::string& hostname )
} }
void rotate(){
int Rotation = 0;
int turning = 0;
cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
cin >> Rotation;
if (0 <= Rotation){
turning = 1;
}
while (1 == turning){
com.processEvents();
omniDrive.setVelocity(0, 0, -0.4);
cout << phi_absolute;
rec::robotino::api2::msleep(100);
// cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
if (Rotation <= phi_absolute){
turning = 0;
}
}
com.processComEvents();
}
void DriveUntilWhite(){
while (0 == digital_inputs){
omniDrive.setVelocity(0.3,0,0);
}
}
void DriveUntilBlack(){
while (0 != digital_inputs){
for (int i=0; i<5; i++){
omniDrive.setVelocity(0.3, 0, 0);
}
for (int i=0; i<5; i++){
omniDrive.setVelocity(-0.3, 0,0 );
}
for (int i=0; i<5; i++){
omniDrive.setVelocity(0, 0.3, 0);
}
for (int i=0; i<5; i++){
omniDrive.setVelocity(0, -0.3, 0);
}
com.processEvents();
}
}
void drive() void drive()
@ -133,27 +183,25 @@ void drive()
DigitalInput(); DigitalInput();
DriveUntilBlack();
com.processEvents();
rec::robotino::api2::msleep(100);
if (0 == digital_inputs[0]){ if (0 == digital_inputs[0]){
omniDrive.setVelocity(0.2,0,0); omniDrive.setVelocity(0.2,0,0);
} }
if (1 == digital_inputs[0]){ if (1 == digital_inputs[0]){
omniDrive.setVelocity(0,0,0); omniDrive.setVelocity(0,0,0);
rotate();
if (digital_inputs != 0){
omniDrive.setVelocity(0.2,0,0);
}
} }
com.processEvents();
rec::robotino::api2::msleep(100);
}
} }
void destroy()
{
com.disconnectFromServer();
}
int main( int argc, char **argv ) int main( int argc, char **argv )
{ {
std::string hostname = "192.168.100.174"; std::string hostname = "192.168.100.174";
@ -172,26 +220,7 @@ int main( int argc, char **argv )
//drive (this contains a while loop) //drive (this contains a while loop)
drive(); drive();
//exit //exit
destroy(); com.disconnectFromServer();
}
catch( const rec::robotino::api2::RobotinoException& e )
{
std::cerr << "Com Error: " << e.what() << std::endl;
}
catch( const std::exception& e )
{
std::cerr << "Error: " << e.what() << std::endl;
}
catch( ... )
{
std::cerr << "Unknow Error" << std::endl;
}
rec::robotino::api2::shutdown(); }
#ifdef WIN32
std::cout << "Press any key to exit..." << std::endl;
rec::robotino::api2::waitForKey();
#endif
} }