Difference between revisions of "Controlling the fakebot from code"

From Wiki for iCub and Friends
Jump to: navigation, search
Line 61: Line 61:
 
         // Connect the ports so that anything written from /out arrives to /in
 
         // Connect the ports so that anything written from /out arrives to /in
 
         Network::connect("/nat/out","/fakebot/motor/rpc:i");
 
         Network::connect("/nat/out","/fakebot/motor/rpc:i");
         //  
+
         //
int j=0;
+
        int j=0;
int pos=0;
+
        int pos=0;
while(true)
+
        while(true)
{
+
        {
Bottle& outBot1 = out.prepare();  // Get the object
+
            Bottle& outBot1 = out.prepare();  // Get the object
outBot1.clear();
+
            outBot1.clear();
outBot1.addString("set"); // put "set" command in the bottle
+
            outBot1.addString("set"); // put "set" command in the bottle
outBot1.addString("pos"); // put "pos" command in the bottle
+
            outBot1.addString("pos"); // put "pos" command in the bottle
outBot1.addInt(j); //control joint 0
+
            outBot1.addInt(j); //control joint 0
outBot1.addInt(pos); //move to 80
+
            outBot1.addInt(pos); //move to 80
printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str());
+
            printf("Writing bottle 1 (%s)\n",outBot1.toString().c_str());
out.write();                      // Now send it on its way
+
            out.write();                      // Now send it on its way
//
+
            //
// change joint number
+
            // change joint number
if (j==0)
+
            if (j==0)
j=1;
+
                j=1;
else
+
            else
j=0;
+
                j=0;
//
+
            //
// pick a random position
+
    // pick a random position
pos=100*(2*Random::uniform()-1);
+
    pos=100*(2*Random::uniform()-1);
// wait some time
+
    // wait some time
Time::delay(3);
+
    Time::delay(3);
  }
+
          }
 
  //
 
  //
  Network::fini(); // This is the reverse of Network::init()
+
          Network::fini(); // This is the reverse of Network::init()
      return 0;
+
          return 0;
  }
+
    }

Revision as of 13:50, 21 February 2007

This example shows how to send commands to the fake robot.

 #include <yarp/os/Network.h>
 #include <yarp/os/Port.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/BufferedPort.h>
 #include <yarp/os/Time.h>
 //
 using namespace yarp::os;
 using namespace yarp;
 //
 int main() {
     // Initialize YARP - some OSes need network and time service initialization
      Network::init();
     //
     // Create a port you will use to send commands to the bot
     BufferedPort<Bottle> out;
     //
     // Name the ports
     out.open("/nat/out");
     //
     // Connect the ports so that anything written from /out arrives to /in
     Network::connect("/nat/out","/fakebot/motor/rpc:i");
     //
     Bottle& outBot1 = out.prepare();   // Get the object
     outBot1.addString("set"); // put "set" command in the bottle
     outBot1.addString("pos"); // put "pos" command in the bottle
     outBot1.addInt(0); //control joint 0
     outBot1.addInt(-80); //move to 80
     printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str());
     out.write();                       // Now send it on its way
     //
     //
     Time::delay(3);
     Network::fini(); // This is the reverse of Network::init()
     return 0;
  }

Another a bit more elaborated example:

  #include <yarp/os/Network.h>
  #include <yarp/os/Port.h>
  #include <yarp/os/Bottle.h>
  #include <yarp/os/BufferedPort.h>
  #include <yarp/os/Time.h>
  #include <yarp/os/Random.h>
  //
  using namespace yarp::os;
  using namespace yarp;
  //
  int main() {
        // Initialize YARP - some OSes need network and time service initialization
        Network::init();
        //
        // Create a port you will use to send commands to the bot
        BufferedPort<Bottle> out;
        //
        // Name the ports
        out.open("/nat/out");
        //
        // Connect the ports so that anything written from /out arrives to /in
        Network::connect("/nat/out","/fakebot/motor/rpc:i");
        //
        int j=0;
        int pos=0;
        while(true)
        {
           Bottle& outBot1 = out.prepare();   // Get the object
           outBot1.clear();
           outBot1.addString("set"); // put "set" command in the bottle
           outBot1.addString("pos"); // put "pos" command in the bottle
           outBot1.addInt(j); //control joint 0
           outBot1.addInt(pos); //move to 80
           printf("Writing bottle 1 (%s)\n",outBot1.toString().c_str());
           out.write();                       // Now send it on its way
           //
           // change joint number
           if (j==0)
               j=1;
           else
               j=0;
           //

// pick a random position pos=100*(2*Random::uniform()-1); // wait some time Time::delay(3);

         }

//

         Network::fini(); // This is the reverse of Network::init()
         return 0;
   }