Exemplo n.º 1
0
	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");
	}
Exemplo n.º 2
0
	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");
	}
Exemplo n.º 3
0
	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");

	}
Exemplo n.º 4
0
	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");
	}
Exemplo n.º 5
0
	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);
	

	}