void simple_example()
{
PlayerCc::PlayerClient robot("localhost");
PlayerCc::Position2dProxy positionProxy(&robot, 0);
PlayerCc::SonarProxy sonarProxy(&robot, 0);
for (;;)
{
// read from the proxies
robot.Read();
// print out sonars for fun
std::cout << sonarProxy << std::endl;
// do simple collision avoidance
double turnrate;
if ((sonarProxy[0] + sonarProxy[1]) < (sonarProxy[6] + sonarProxy[7]))
turnrate = PlayerCc::dtor(-20); // turn 20 degrees per second
else
turnrate = PlayerCc::dtor(20);
double speed;
if (sonarProxy[3] < 0.500)
speed = 0;
else
speed = 0.100;
// command the motors
positionProxy.SetSpeed(speed, turnrate);
}
}
Robot::Robot() {
PlayerCc::PlayerClient player(PlayerCc::PLAYER_HOSTNAME, PlayerCc::PLAYER_PORTNUM);
//create ranger and motor classes
PlayerCc::Position2dProxy positionProxy(&player, 0);
PlayerCc::RangerProxy rangerProxy1(&player, 0);
PlayerCc::RangerProxy rangerProxy2(&player, 1);
//connect rangers/motor with player
player.Read();
positionProxy.RequestGeom();
rangerProxy1.RequestConfigure();
rangerProxy1.RequestGeom();
rangerProxy2.RequestConfigure();
rangerProxy2.RequestGeom();
player.Read();
this->player = &player;
motor = new Motor(positionProxy);
ranger.push_back(new Ranger(rangerProxy1));
ranger.push_back(new Ranger(rangerProxy2));
local = new Local(positionProxy);
controller = new Controller(*motor);
power = false;
Logger::setConsole(console);
LOG_CTOR << "Constructed." << std::endl;
}