eeros_architecture:sequencer:subsequence
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eeros_architecture:sequencer:subsequence [2015/10/29 21:55] – [Simple Example] graf | eeros_architecture:sequencer:subsequence [2015/10/31 09:05] (current) – external edit 127.0.0.1 | ||
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Line 11: | Line 11: | ||
class SequenceB : public Sequence< | class SequenceB : public Sequence< | ||
public: | public: | ||
- | | + | |
void run(double z) { | void run(double z) { | ||
- | robot.moveXY(z); | + | robot.moveZ(z); |
yield(); | yield(); | ||
- | robot.moveXY(0); | + | robot.moveZ(0); |
} | } | ||
Line 35: | Line 35: | ||
void run() { | void run() { | ||
robot.moveXY(10, | robot.moveXY(10, | ||
- | | + | |
- | robot.moveXY(-10, | + | robot.moveXY(-10, |
- | | + | |
robot.moveXY(0, | robot.moveXY(0, | ||
} | } | ||
Line 43: | Line 43: | ||
private: | private: | ||
Robot& robot; | Robot& robot; | ||
- | SequenceB | + | SequenceB |
}; | }; | ||
</ | </ | ||
- | In our main program we declare a sequencer for the main sequence. The same sequencer will also handle the subsequence. Sequence A and B do not run concurrently. The following figure shows the flow of action. | + | In our main program we declare a sequencer for the main sequence. The same sequencer will also handle the subsequence. Sequence A and B do not run concurrently. |
+ | <code cpp> | ||
+ | int main() { | ||
+ | Sequencer sequencer; | ||
+ | SequenceA seqA(" | ||
+ | sequencerA.start(& | ||
+ | sequencerA.join(); | ||
+ | }; | ||
+ | </ | ||
+ | The following figure shows the flow of action. | ||
+ | {{ : | ||
===== Nonblocking Call of a Subsequence ===== | ===== Nonblocking Call of a Subsequence ===== | ||
Line 61: | Line 71: | ||
void run() { | void run() { | ||
robot.moveZ(5); | robot.moveZ(5); | ||
- | sleep(); | + | sleep(3); |
yield(); | yield(); | ||
robot.moveZ(0); | robot.moveZ(0); | ||
Line 71: | Line 81: | ||
</ | </ | ||
- | The //run()// method | + | The //run()// method |
We can now define our first or main sequence with | We can now define our first or main sequence with | ||
Line 78: | Line 88: | ||
class SequenceA : public Sequence<> | class SequenceA : public Sequence<> | ||
public: | public: | ||
- | SequenceA(std:: | + | SequenceA(std:: |
void run() { | void run() { | ||
robot.moveXY(10, | robot.moveXY(10, | ||
- | | + | |
- | robot.moveXY(-10, | + | robot.moveXY(-10, |
- | | + | |
robot.moveXY(0, | robot.moveXY(0, | ||
} | } | ||
Line 90: | Line 100: | ||
private: | private: | ||
Robot& robot; | Robot& robot; | ||
- | | + | |
}; | }; | ||
</ | </ | ||
- | In our main program we declare a sequencer for the main sequence. | + | In our main program we declare a sequencer for the main sequence. |
+ | <code cpp> | ||
+ | int main() { | ||
+ | Sequencer sequencerA, sequencerB; | ||
+ | SequenceB seqB(" | ||
+ | SequenceA seqA(" | ||
+ | sequencerB.addCmdSequence(& | ||
+ | sequencerA.start(& | ||
+ | sequencerA.join(); | ||
+ | }; | ||
+ | </ | ||
+ | |||
+ | In the second step of the sequence A the sequence is started in its own thread. After this both run concurrently. | ||
+ | The following figure shows the flow of action. | ||
+ | {{ : |
eeros_architecture/sequencer/subsequence.1446152111.txt.gz · Last modified: 2015/10/29 21:55 (external edit)