/* Main()*/
int main(int argc, const char **argv)
{
// Create a client object and connect to the server; the server must
// be running on "localhost" at port 6665
client = playerc_client_create(NULL, "gort", 9876);
if (playerc_client_connect(client) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Create a bumper proxy (device id "bumper:0" and subscribe
// in read mode
bumper = playerc_bumper_create(client, 0);
if(playerc_bumper_subscribe(bumper,PLAYERC_OPEN_MODE)!= 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Create a position2d proxy (device id "position2d:0") and susbscribe
// in read/write mode
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Enable the robots motors
playerc_position2d_enable(position2d, 1);
playerc_client_read(client);
// Point 1 to Point 2
Move(client, MOVE1, ANGLE1);
Turn(client, TURN1);
// Point 2 to Point 3
Move(client, MOVE2, ANGLE2);
Turn(client, TURN2);
// Point 3 to Point 4
Move(client, MOVE3, ANGLE3);
Turn(client, TURN3);
// Point 4 to Point 5
Move(client, MOVE4, ANGLE4);
// Shutdown and tidy up
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int main(int argc, const char **argv)
{
double actual_result_trans;
double actual_result_angle;
int finished;
playerc_client_t *client;
playerc_position2d_t *position2d;
playerc_bumper_t * bumper;
// Create a client object and connect to the server
client = playerc_client_create(NULL, SERVER, PORT);
if (playerc_client_connect(client) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Connected...");
// Create a position2d proxy (device id "position2d:0") and susbscribe
// in read/write mode
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Position2D Subscribed...");
//Creates a Bumper Device Proxy
bumper = playerc_bumper_create(client, 0);
if(playerc_bumper_subscribe(bumper, PLAYERC_OPEN_MODE)) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Bumper Subscribed...");
// Enable the robots motors
playerc_position2d_enable(position2d, 1);
printf("Motor Enabled\n");
#ifdef ABSOLUTE_COORD
//calls our move function to move to second point
actual_result_trans = Move(client,position2d,bumper,3.2,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for third point
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to third point from second point
actual_result_trans = Move(client,position2d,bumper,3.2,3.04);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for the fourth point
actual_result_angle = Turn(client,position2d,bumper,2.75741633);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to fouth point from third point
actual_result_trans = Move(client,position2d,bumper,-0.5,4.7);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for point five
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves robot from position four to position five
actual_result_trans = Move(client,position2d,bumper,-0.55,11.6);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
#else
//calls our move function to move to second point
actual_result_trans = Move(client,position2d,bumper,3.2,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for third point
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to third point from second point
actual_result_trans = Move(client,position2d,bumper,3.04,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for the fourth point
actual_result_angle = Turn(client,position2d,bumper,1.18662);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to fouth point from third point
actual_result_trans = Move(client,position2d,bumper,4.02,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for point five
actual_result_angle = Turn(client,position2d,bumper,-1.18662);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves robot from position four to position five
actual_result_trans = Move(client,position2d,bumper,6.83,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
#endif
// Shutdown and Unsubscribe Devices
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_bumper_unsubscribe(bumper);
playerc_bumper_destroy(bumper);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
