OpenMR: Servocontroller examples
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(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); }
Example 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.
[[|thumb|300px|Test-servocontroller-2: Servo positions set to -45 degrees (click to enlarge)]] | [[|thumb|300px|Test-servocontroller-2: Servo positions set to 45 degrees (click to enlarge)]] |