Diferencia entre revisiones de «OpenMR: Servocontroller examples»

Revisión del 04:30 13 jul 2010

Introduction

Test-servocontroller-1: Set the position of one servo

Example of the setpos1 command to set the position of the servo 0. The module's angle is set to 45 and -45 degrees alternatively.

Test-servocontroller-1: Servo position set to -45 degrees (click to enlarge)

Test-servocontroller-1: Servo position set to 45 degrees (click to enlarge)

In the begining the environmnet is created (loaded from the file models/Unimod1.env.xml) and the camera view is set. The environment consist of one robot with only one module (Unimod).

First the pointer to the robot(probot) is obtained from the environment (penv). In a general scence, there can be multiple robots. But in this example there is only one robot (robot number 0):

 std::vector<RobotBasePtr> robots;
 penv->GetRobots(robots);
 RobotBasePtr probot = robots[0];

Then the servocontroller is set as the robot controller:

 ControllerBasePtr pcontroller = penv->CreateController("servocontroller");
 probot->SetController(pcontroller,"");

In the main loop, the serpos1 command is used to set the module's angle:

 while(1) {
   is << "setpos1 0 45 ";
   pcontroller->SendCommand(os,is);
   sleep(1);
 
   is << "setpos1 0 -45 ";
   pcontroller->SendCommand(os,is);
   sleep(1);
 }

Test-servocontroller-2: Set the position of two servos

Example of the setpos and setpos1 commands to set the position of two servos. Both modul angles are set to 45 and -45 degrees alternatively.

Test-servocontroller-2: Servo positions set to 45 and -45 degrees (click to enlarge)

Test-servocontroller-2: Servo positions set to -45 and 45 degrees (click to enlarge)

In the main loop, the position of the servos is set to 45 and -45 degrees using the setpos command.

 is << "setpos 45 -45 ";
 pcontroller->SendCommand(os,is);
 sleep(1);

Then, the position is set to -45 and 45 but using the setpos1 command (it can also be used the setpos command, of course)

 is << "setpos1 0 -45 ";
 pcontroller->SendCommand(os,is);
 
 is << "setpos1 1 45 ";
 pcontroller->SendCommand(os,is);
 
 sleep(1);

Test-servocontroller-3: Saving the servo's angles into a file

Example of the record command. The two servos are set to -45 and 45 respectivelly. The servo's angle at every simulation tic are stored into the test1.m file.

Test-servocontroller-3: Initial Servo positions (click to enlarge)

Test-servocontroller-3: Final Servo positions (click to enlarge)

Test-servocontroller-3: The servo's angle in time (click to enlarge)

Links

• OpenMR main page