anyKode Marilou
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Gestion du capteur de force.
class DeviceForceSensor : public Device;
ModaCpp.h
La classe DeviceForceSensor ne dois pas être instanciée par le programme lui même: elle doit être obtenue par QueryDeviceForceSensor de la classe RobotPHX.
Les différents paramètres passés aux fonctions d'accès à la device sont interprétés et modifiés si nécessaire afin de respecter les contraintes imposées dans la modélisation.
#include "Modacpp.h" #include "conio.h" #define MODASERVER "localhost" #define MYROBOTNAME "/" using namespace ModaCPP; int main(int argc, char* argv[]) { ModaCPP::Connection *connection=new ModaCPP::Connection(true); //Try connect to MODA server if(connection->Connect(MODASERVER)) { _cprintf("Connection ok to moda server\r\n"); //Find the robot ModaCPP::RobotPHX *robot=connection->QueryRobotPHX(MYROBOTNAME); if(robot) { _cprintf("robot found\r\n"); DeviceForceSensor *pForceSensor=robot->QueryDeviceForceSensor("slider_force/a1/sensor"); if(pForceSensor) { pForceSensor->On(); while(!_kbhit()) { //display the force sensor value float force=pForceSensor->GetForce(); _cprintf("Current force: %f\r\n",force); connection->Sleep(50); } //clean delete pForceSensor; } else { _cprintf("unable to find force sensor\r\n"); } } else { _cprintf("robot not found\r\n"); } } else { _cprintf("Unable to connect to moda server\r\n"); } //Disconnect & delete connection->Disconnect(); delete connection; _getch(); return 0; }
Documentation v4.7 (18/01/2015), Copyright (c) 2015 anyKode. All rights reserved.
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