int main(int argc, char *argv[])
{
enum {
TIME_STAMP_PRINT_TIMES = 5,
};
urg_t urg;
long time_stamp_offset;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
printf("# pc,\tsensor\n");
// \~japanese URG のタイムスタンプと PC のタイムスタンプを表示
time_stamp_offset = print_time_stamp(&urg, 0);
// \~japanese URG の補正後のタイムスタンプと PC タイムスタンプを表示
for (i = 0; i < TIME_STAMP_PRINT_TIMES; ++i) {
print_time_stamp(&urg, time_stamp_offset);
}
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
urg_t urg;
long *data;
long max_distance;
long min_distance;
long time_stamp;
int i;
int n;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// \~japanese データ取得
urg_start_measurement(&urg, URG_DISTANCE, 1, 0);
n = urg_get_distance(&urg, data, &time_stamp);
if (n < 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
urg_close(&urg);
return 1;
}
// \~japanese X-Y 座標系の値を出力
urg_distance_min_max(&urg, &min_distance, &max_distance);
for (i = 0; i < n; ++i) {
long distance = data[i];
double radian;
long x;
long y;
if ((distance < min_distance) || (distance > max_distance)) {
continue;
}
radian = urg_index2rad(&urg, i);
x = (long)(distance * cos(radian));
y = (long)(distance * sin(radian));
printf("%ld, %ld\n", x, y);
}
printf("\n");
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 0,
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// \~japanese データ取得
#if 0
// \~japanese データの取得範囲を変更する場合
urg_set_scanning_parameter(&urg,
urg_deg2step(&urg, -90),
urg_deg2step(&urg, +90), 0);
#endif
int k;
for (k = 0; k < 3; k++) {
urg_start_measurement(&urg, URG_DISTANCE, CAPTURE_TIMES, 0);
for (i = 0; i < 25; ++i) {
n = urg_get_distance(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
urg_stop_measurement(&urg);
sleep(10);
}
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 10,
};
urg_t urg;
int max_data_size;
long *data = NULL;
unsigned short *intensity = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
max_data_size = urg_max_data_size(&urg);
data = (long *)malloc(max_data_size * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
intensity = malloc(max_data_size * sizeof(intensity[0]));
if (!intensity) {
perror("urg_max_index()");
return 1;
}
// データ取得
urg_start_measurement(&urg, URG_DISTANCE_INTENSITY, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_distance_intensity(&urg, data, intensity, &time_stamp);
if (n <= 0) {
printf("urg_get_distance_intensity: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, intensity, n, time_stamp);
}
// 切断
free(intensity);
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum { DATA_SIZE = 1081 };
urg_t urg;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
urg_reboot(&urg);
return 0;
}
int main(int argc, char *argv[]){
enum {
CAPTURE_TIMES = 1, //modificat_numarul_de_afisari_ale_citirii
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("1urg_max_index()");
return 1;
}
// \~japanese データ取得
#if 0
// \~japanese データの取得範囲を変更する場合
urg_set_scanning_parameter(&urg,
urg_deg2step(&urg, -90),
urg_deg2step(&urg, +90), 0);
#endif
urg_start_measurement(&urg, URG_DISTANCE, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_distance(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 10,
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * 3 * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// データ取得
urg_start_measurement(&urg, URG_MULTIECHO, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_multiecho(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_multiecho: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
// 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
urg_t urg;
int min_step;
int max_step;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
urg_step_min_max(&urg, &min_step, &max_step);
printf("urg_step2deg(%d): %f\n", min_step, urg_step2deg(&urg, min_step));
printf("urg_step2deg(%d): %f\n", max_step, urg_step2deg(&urg, max_step));
printf("urg_step2rad(%d): %f\n", min_step, urg_step2rad(&urg, min_step));
printf("urg_step2rad(%d): %f\n", max_step, urg_step2rad(&urg, max_step));
return 0;
}