anyKode Marilou
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Gestion des sources lumineuses.
class DeviceLightSource : public Device;
ModaCpp.h
La classe DeviceLightSource ne dois pas être instanciée par le programme lui même: elle doit être obtenue par QueryDeviceLightSource 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.
//MODA C++ for VC2005 sample code //Light source blink sample #include "Modacpp.h" #define MODASERVER "localhost" #define MYROBOTNAME "/" 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) { //query light sources ModaCPP::DeviceLightSource *pLight1=robot->QueryDeviceLightSource("light0/l"); ModaCPP::DeviceLightSource *pLight2=robot->QueryDeviceLightSource("light1/l"); if(pLight1 && pLight2) { //power on lights pLight1->On(); pLight2->On(); //blink ! while(!_kbhit()) { //off pLight1->SetIntensity(0); pLight2->SetIntensity(0); connection->Sleep(100); //on pLight1->SetIntensity(1.0f); pLight2->SetIntensity(0.5f); connection->Sleep(100); } //delete objects delete pLight1; delete pLight2; } else { _cprintf("missing light source(s)\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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