getting_started:tutorials:firstproject
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getting_started:tutorials:firstproject [2015/08/06 12:57] – visentin | getting_started:tutorials:firstproject [2016/11/29 15:36] (current) – removed graf | ||
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- | ====== Your First EEROS Project ====== | ||
- | First of all, make sure that you have set up your environment as described in [[..: | ||
- | <code c> | ||
- | int main() { | ||
- | std::cout << "SCARA Robot Control started" | ||
- | | ||
- | // Define logger | ||
- | StreamLogWriter w(std:: | ||
- | w.show(); | ||
- | Logger< | ||
- | | ||
- | // Get HAL istance | ||
- | HAL& hal = HAL:: | ||
- | | ||
- | // Get Control System instance | ||
- | MyControlSystem controlSystem; | ||
- | | ||
- | // Get Safety System instance | ||
- | double dt = 0.001; | ||
- | | ||
- | MySafetyProperties safetyProperties(& | ||
- | SafetySystem safetySystem (safetyProperties, | ||
- | |||
- | Sequencer sequencer; | ||
- | MySequencer | ||
- | sequencer.start(& | ||
- | | ||
- | while(sequencer.getState() != state:: | ||
- | usleep(10000); | ||
- | } | ||
- | | ||
- | controlSystem.stop(); | ||
- | safetySystem.shutdown(); | ||
- | sequencer.shutdown(); | ||
- | | ||
- | std::cout << "SCARA Robot Control stopped" | ||
- | return 0; | ||
- | } | ||
- | </ | ||
- | |||
- | To start, create an instance of the [[eeros_architecture: | ||
- | |||
- | Then you have to define the [[eeros_architecture: | ||
- | |||
- | Finally, a sequence has to be defined and assigned to a [[eeros_architecture: | ||
- | |||
- | Here follows the basic implementation of the three subsystems of a simple EEROS application: | ||
- | |||
- | == Control System: == | ||
- | |||
- | .hpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
- | |||
- | .cpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
- | |||
- | Safety System: | ||
- | |||
- | .hpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
- | |||
- | .cpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
- | |||
- | Main Sequencer: | ||
- | |||
- | .hpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
- | |||
- | .cpp: | ||
- | |||
- | <code c> | ||
- | </ | ||
getting_started/tutorials/firstproject.1438858655.txt.gz · Last modified: 2015/08/06 12:57 (external edit)