void SamInit(void)
{
RecognisePort("TTSIn"); // name the port to be shown in the gui
RecognisePort("EmoIn"); // name the port to be shown in the gui
RecognisePort("TrackIn"); // name the port to be shown in the gui
StartModule("/EMYS");
bTTS.open("/EMYS_TTSIn"); // open the port
bEmo.open("/EMYS_EmoIn"); // open the port
bTrack.open("/EMYS_TrackIn"); // open the port
//bTrack.setStrict(true);
//bEmo.setStrict(true);
//bTTS.setStrict(true);
bTrack.setReporter(myPortStatus); // set reporter, this is important
bEmo.setReporter(myPortStatus); // set reporter, this is important
bTTS.setReporter(myPortStatus); // set reporter, this is important
bTalking=false;
puts("started EMYS rcv");
}
void SamInit(void)
{
RecognisePort("Out"); // name the port to be shown in the gui
StartModule("/Star");
bStarSend.open("/Star_Out"); // open the port
bStarSend.setReporter(myPortStatus); // set reporter, this is important
puts("started stargazer");
}
void SamInit(void)
{
iVoltage=0;
task="";
bCharging=true;
RecognisePort("PIn");
RecognisePort("PhoneOut");
StartModule("/Phidget");
bRead.open("/Phidget_PIn");
bPhone.open("/Phidget_PhoneOut");
bRead.setStrict(true);
bPhone.setStrict(true);
bRead.setReporter(myPortStatus);
bPhone.setReporter(myPortStatus);
//relay switch: on mobile base and start modules
CPhidgetInterfaceKit_setOutputState (ifKit, 6, 1);
yarp::os::Time::delay(2);
system("start.bat");
}
void SamInit(void)
{
RecognisePort("StarIn");
RecognisePort("GoalIn");
//RecognisePort("PwrOut");
//RecognisePort("LaserIn");
StartModule("/GotoNav");
StarIn.open("/GotoNav_StarIn");
GoalIn.open("/GotoNav_GoalIn");
//PwrOut.open("/GotoNav_PwrOut");
//LaserIn.open("/GotoNav_LaserIn");
StarIn.setStrict(true);
GoalIn.setStrict(true);
//PwrOut.setStrict(true);
//LaserIn.setStrict(true);
StarIn.setReporter(myPortStatus);
GoalIn.setReporter(myPortStatus);
//PwrOut.setReporter(myPortStatus);
//LaserIn.setReporter(myPortStatus);
//myfile.open ("motion.txt");
//if (myfile.is_open())
//{
// myfile << 0 << "|" << 0 << "\n";
// myfile.close();
//}
//system("move.exe");
yarp::os::Time::delay(0.5);
puts("started nav go to");
}
void SamInit(void)
{
puts("in laser");
laser.setSerialPort("COM10");
puts("set serial \n Starting laser, this may take a minute");
bool TurnedOn = false;
while(!TurnedOn) // sometimes the coms are busy, wait untill we get what we want
{
try{TurnedOn = laser.turnOn();}
catch (...){}
}
puts("laser turned on");
RecognisePort("Out");
StartModule("/Laser");
myfirst.open("/Laser_Out"); //myPortStatus
myfirst.setReporter(myPortStatus);
}
