Difference between revisions of "Controlling the fakebot from code"

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This example shows how to send commands to the fake robot.
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== Basic position control ==
 +
* This example shows how to send commands to the fake robot.
  
  int main() {
+
  #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
 
       // Initialize YARP - some OSes need network and time service initialization
 
       Network::init();
 
       Network::init();
 
       //
 
       //
 
       // Create a port you will use to send commands to the bot
 
       // Create a port you will use to send commands to the bot
       Port out;
+
       BufferedPort<Bottle> out;
 
       //
 
       //
 
       // Name the ports
 
       // Name the ports
       out.open("/USERNAME/out");
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       out.open("/nat/out");
 
       //
 
       //
 
       // 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("/USERNAME/out","/fakebot/motor/rpc:i");
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       Network::connect("/nat/out","/fakebot/motor/rpc:i");
 
       //
 
       //
 
       Bottle& outBot1 = out.prepare();  // Get the object
 
       Bottle& outBot1 = out.prepare();  // Get the object
 +
      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.addInt(0); //control joint 0
 
       outBot1.addInt(0); //control joint 0
       outBot2.addInt(80); //move to 80
+
       outBot1.addInt(-80); //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
 
       //
 
       //
 +
      //
 +
      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;
 
   }
 
   }
 +
 +
 +
== Basic velocity control ==
 +
* Here's the message you need to do command the motors to velocities xVelocity and yVelocity:
 +
            Bottle& pos = out.prepare();
 +
            pos.clear();
 +
            pos.addVocab(VOCAB3('s','e','t'));
 +
            pos.addVocab(VOCAB4('v','m','o','s'));
 +
            Bottle& coords = pos.addList();
 +
            coords.addDouble(xVelocity);
 +
            coords.addDouble(yVelocity);
 +
            out.write();
 +
 +
== Random movement example ==
 +
* Another, a bit more elaborate, 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;
 +
    }

Latest revision as of 20:18, 27 February 2007

Basic position control

  • 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.clear();
     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;
  }


Basic velocity control

  • Here's the message you need to do command the motors to velocities xVelocity and yVelocity:
           Bottle& pos = out.prepare();
           pos.clear();
           pos.addVocab(VOCAB3('s','e','t'));
           pos.addVocab(VOCAB4('v','m','o','s'));
           Bottle& coords = pos.addList();
           coords.addDouble(xVelocity);
           coords.addDouble(yVelocity);
           out.write();

Random movement example

  • Another, a bit more elaborate, 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;
   }