Controlling the fakebot from code

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Revision as of 13:19, 21 February 2007 by Lorenzo (talk | contribs)
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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
     // Create a port you will use to send commands to the bot
     BufferedPort<Bottle> out;
     // Name the ports"/nat/out");
     // Connect the ports so that anything written from /out arrives to /in
     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
     Network::fini(); // This is the reverse of Network::init()
     return 0;