void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
double x;
mexPrintf("arrobot_setvel mex function start\n");
if(nrhs != 1) {
mexErrMsgIdAndTxt("arrobot_setvel", "One input required.");
return;
}
x = prhs[0];
mexPrintf("arrobot_setvelx mex function got double %f\n", x);
arrobot_setvel(x);
}
int main(int argc, char **argv)
{
aria_init(argc, argv);
while(1)
{
if(!arrobot_connect())
return 1 ;
printf("radius=%.2f, length=%.2fmm, width=%.2fmm\n",
arrobot_radius(),
arrobot_length(),
arrobot_width()
);
arrobot_setvel(200);
arrobot_setrotvel(10);
for(int c = 0; c < 10; ++c)
{
arrobot_connect(); // should skip connection if already connected.
printf("x=%.1f y=%.1f th=%.1f vel=%.1f rotvel=%.1f left=%.1f right=%.1f stall=%d battv=%.1f\n",
arrobot_getx(),
arrobot_gety(),
arrobot_getth(),
arrobot_getvel(),
arrobot_getrotvel(),
arrobot_getleftvel(),
arrobot_getrightvel(),
arrobot_isstalled(),
arrobot_getbatteryvoltage()
);
printf("sonar");
for(int i = 0; i < arrobot_getnumsonar(); ++i)
{
printf(" %d=%f", i, arrobot_getsonarrange(i));
}
puts("");
sleep(1);
}
arrobot_disconnect();
puts("disconnected, reconnecting in 5 sec...");
sleep(5);
}
return 0;
}
