int torsoController::initRobot(bool debug){
int endflag = 0;
char sel_key;
const char *paramfile = "parameterfiles/Parameters.txt";
if (realTorso.InitTorso(paramfile) != 0) return -1;
MainTimer.Start();
if (!debug)
{
mainRoutine(AUTOCALIBMODE);
//mainRoutine(MANUALCALIBMODE); DO NOT USE
//debugRoutine();
printf("1. Main routine (AutoCalib) started...\n\n\n");
}else
{
debugRoutine();
printf("1. debug routine started...\n\n\n");
}
initDone = true;
return 0;
}
int main(int argc, char * argv[])
{
PIN_InitSymbols();
if(PIN_Init(argc, argv)) {
cerr << "This Pintool returns all the system calls that are executed" << endl;
cerr << endl << KNOB_BASE::StringKnobSummary() << endl;
return 0;
}
// System Call
mainSystemCall();
// Routine
mainRoutine();
// Shell Code
mainShellCode();
PIN_StartProgram();
return 0;
}