int main()
{
int angle=0;
float angle2=0;
startOI_MT("/dev/ttyUSB0");
printf("start_d:%d\n",getDistance());
printf("start_a:%d\n",getAngle());
drive (VELOCITY, RADIUS);
while(1){
angle += getAngle();
if(angle <= RAD_MAX)//RAD_MAX)
{
fprintf(stdout, "回転角度:%f\n", 0.111*angle - 14.543+angle);
fprintf(stdout, "回転角度:%d\n", angle);
break;
}
}
stopOI_MT();
return 0;
}
int main()
{
startOI_MT("/dev/ttyUSB0");
while(1)
{
std::cout << "soner====" << getDistanceBySoner() << std::endl;
}
stopOI_MT();
return 0;
}
int main()
{
float turn_angle;
startOI_MT("/dev/ttyUSB0");
for(int i=0;i<5;i++)
{
turn_angle = turnCreate(VELOCITY,RAD_MAX);
std::cout << turn_angle << std::endl;
}
stopOI_MT();
return 0;
}
int main(int argc, char** argv){
int port_number;
int client_length;
struct sockaddr_in server_address, client_address;
struct hostent *host_properties;
char buffer[BUFFER_SIZE];
char *host_address;
int message_size;
int message_byte_size;
const char delimiters[ ] = ":";
port_number = atoi( argv[ 2 ] );
//-- create the socket
printf( "creating udp socket...\n" );
socket_descriptor = socket(AF_INET, SOCK_DGRAM, 0);
if ( socket_descriptor < 0 )
perror( "Error opening the socket" );
//-- quick trick to avoid error on binding
int optval = 1;
setsockopt( socket_descriptor, SOL_SOCKET, SO_REUSEADDR, ( const void * )&optval, sizeof( int ) );
//-- set server internet address
bzero( ( char * )&server_address, sizeof( server_address ) );
server_address.sin_family = AF_INET;
server_address.sin_addr.s_addr = inet_addr( argv[ 1 ] );
server_address.sin_port = htons( ( unsigned short )port_number );
//-- bind socket to port
if( bind( socket_descriptor, ( struct sockaddr * )&server_address, sizeof( server_address ) ) < 0 )
perror( "Error binding socket to port" );
//-- if nothing has failed up to this point, let's start the connection to the create robot
printf( "connecting to irobot create on %s...\n", argv[ 3 ] );
startOI_MT( argv[ 3 ] );
//-- the main loop !
client_length = sizeof( client_address );
while( 1 ){
//-- receive the packets from the iphone app
bzero( buffer, BUFFER_SIZE );
message_byte_size = recvfrom( socket_descriptor, buffer, BUFFER_SIZE, 0, ( struct sockaddr * )&client_address, &client_length );
if( message_byte_size < 0 )
perror("Error in recvfrom");
printf("%s\n", buffer);
fflush(stdout);
//-- split the control instruction and extract left wheel velocity and right wheel velocity
char *left;
char *right;
left = strtok( buffer, delimiters ); // left = "Left";
left = strtok( NULL, delimiters ); // left = string with actual value for left wheel velocity
right = strtok( NULL, delimiters ); // right = "Right"
right = strtok( NULL, delimiters ); // right = string with actual value for right wheel velocity
int left_velocity = atoi( left );
int right_velocity = atoi( right );
//-- quick fix so that if the velocities of the wheels are too close
// together then set them to the same, this should be handled on the
// iphone code.
if( abs( left_velocity - right_velocity ) < ERROR_MARGIN )
left_velocity = right_velocity;
//-- send command to the robot
directDrive( left_velocity, right_velocity );
}
//-- stop robot
stopOI_MT();
}
