Diferencia entre revisiones de «OpenMR: Servocontroller examples»
De WikiRobotics
(→Test-servocontroller-1: Set the position of one servo) |
(→Test-servocontroller-1: Set the position of one servo) |
||
| Línea 2: | Línea 2: | ||
== Test-servocontroller-1: Set the position of one servo == | == Test-servocontroller-1: Set the position of one servo == | ||
| + | |||
| + | {| | ||
| + | | [[Imagen:Openmr-test-servocontroller-1-1.jpg|thumb|300px|'''Test-servocontroller-1''': Servo position set to -45 degrees (''click to enlarge'')]] | ||
| + | | [[Imagen:Openmr-test-servocontroller-1-2.jpg|thumb|300px|'''Test-servocontroller-2''': Servo position set to 45 degrees (''click to enlarge'')]] | ||
| + | |} | ||
| + | |||
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. | 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. | ||
| Línea 11: | Línea 17: | ||
penv->GetRobots(robots); | penv->GetRobots(robots); | ||
RobotBasePtr probot = robots[0]; | RobotBasePtr probot = robots[0]; | ||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
== Example 2: Set the position of two servos == | == Example 2: Set the position of two servos == | ||
Revisión del 03:44 7 jul 2010
Contenido
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.
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 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];
