OpenMR: Servocontroller examples

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];

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

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

Links

• OpenMR main page