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getting_started:tutorials:mockrobot

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getting_started:tutorials:mockrobot [2020/12/03 13:21] – [Sequencer] ursgrafgetting_started:tutorials:mockrobot [2021/03/31 17:31] – [Mock Robot Example] ursgraf
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 ====== Mock Robot Example ====== ====== Mock Robot Example ======
-This tutorial demonstrates an EEROS application complete with a control system, a safety system, and a sequencer. You can find the code in the directory with the examples. Start the program with +This tutorial demonstrates an EEROS application complete with a control system, a safety system, and a sequencer. You can find the code under [[https://github.com/eeros-project/eeros-framework/blob/master/examples/system/MockRobotExample.cpp|MockRobotExample.cpp]]. 
 + 
 +Start the program with 
 <code cpp> <code cpp>
 $ sudo ./examples/system/mockRobotExample $ sudo ./examples/system/mockRobotExample
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   MoveUp(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }   MoveUp(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {   int action() {
-    cs.setpointX.setValue(0.7); +    Matrix<2,1,double> dest{8.2, 27.0}; 
-    cs.setpointY.setValue(0.3);+    cs.pp.move(dest); 
 +    return 0;
   }   }
-  bool checkExitCondition() {return cs.iX.getOut().getSignal().getValue() >= 5.0;}+  bool checkExitCondition() {return cs.pp.endReached();}
   MockRobotControlSystem& cs;   MockRobotControlSystem& cs;
 }; };
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   MoveDown(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }   MoveDown(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {   int action() {
-    cs.setpointX.setValue(-0.6); +    Matrix<2,1,double> dest{-5, 3}; 
-    cs.setpointY.setValue(-0.3);+    cs.pp.move(dest); 
 +    return 0;
   }   }
-  bool checkExitCondition() {return cs.iX.getOut().getSignal().getValue() <= -5.0;} +  bool checkExitCondition() {return cs.pp.endReached();}
-private:+
   MockRobotControlSystem& cs;   MockRobotControlSystem& cs;
 }; };
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         moveDown();         moveDown();
       }       }
 +      return 0;
     }     }
-private: 
   MoveUp moveUp;   MoveUp moveUp;
   MoveDown moveDown;   MoveDown moveDown;
getting_started/tutorials/mockrobot.txt · Last modified: 2021/03/31 17:45 by ursgraf