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moduleActionExample2_Mod.cpp
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moduleActionExample2_Mod.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "Aria.h"
/** @example moduleExample_Mod2.cpp
* @brief Example demonstrating how to implement a module with ArModule
*
* This is a second module loaded by moduleExample.cpp.
@sa moduleExample.cpp.
@sa ArModule in the reference manual.
*/
class SimpleMod : public ArModule
{
public:
bool init(ArRobot *robot, void *argument = NULL);
bool exit();
ArActionLimiterForwards myLimiterForwards;
};
SimpleMod module2;
ARDEF_MODULE(module2);
bool SimpleMod::init(ArRobot *robot, void *argument)
{
ArLog::log(ArLog::Normal, "moduleActionExample2_Mod: Robot name is %s", robot->getRobotName());
ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: init(%p) called in moduleActionExample2_Mod!", robot);
if (argument != NULL)
ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: Argument given to ArModuleLoader::load was the string '%s'.",
(char *)argument);
else
ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: No argument was given to ArModuleLoader (this is OK).");
// Do stuff here...
robot->addAction(&myLimiterForwards, 40);
myLimiterForwards.activate();
robot->clearDirectMotion();
robot->enableMotors();
return(true);
}
bool SimpleMod::exit()
{
ArLog::log(ArLog::Terse, "moduleActionExample2_Mod: exit() called.");
// Do stuff here...
return(true);
}