int main(int argc, char *argv[]) { if (argc!=2) { fprintf(stderr,"please supply name of rpc port to talk to\n"); return 1; } Network yarp; Port port; if (!port.open("/motor/client")) { fprintf(stderr,"Failed to open a port, maybe run: yarpserver\n"); return 1; } //yarp.connect("/motor/client",argv[1],"text_ack"); yarp.connect("/motor/client",argv[1]); Motor motor; motor.query(port); int nj = motor.get_axes(); vector<double> poss; for (int i=0; i<nj; i++) { poss.push_back(0.5*i); } motor.set_poss(poss); for (int i=0; i<10; i++) { motor.link().stream(); motor.set_pos(0,i); motor.link().query(); double v = motor.get_enc(0); printf("Motor %d at %g of %d axes\n", 0, v, motor.get_axes()); vector<double> all = motor.get_encs(); printf(" all encs:"); for (int i=0; i<(int)all.size(); i++) { printf(" %d:%g", i, all[i]); } printf("\n"); } port.close(); return 0; }