Controlling the fakebot from your own code

From Wiki for iCub and Friends
Revision as of 12:53, 21 February 2007 by Lorenzo (talk | contribs) (//)
(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
Jump to: navigation, search

You need to create a port to send commands to the fake bot.

Have a look at this example.

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
   Port out;
   // Name the ports
   out.open("/USER_NAME/out");
   // Connect the ports so that anything written from /out arrives to /in
   Network::connect("/USERNAME/out","/fakebot/motor/rpc:i");
   Bottle& outBot1 = out.prepare();   // Get the object
   outBot1.addString("set"); // put "set" command in the bottle
   outBot1.addInt(0); //control joint 0
   outBot2.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;

}