C++ ArRobot::getBatteryVoltage方法代码示例

int main(int argc, char **argv)
{

  Aria::init();
  ArRobot robot;
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();

  ArLog::log(ArLog::Terse, "WARNING: this program does no sensing or avoiding of obstacles, the robot WILL collide with any objects in the way! Make sure the robot has approximately 3 meters of free space on all sides.");

  // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
  // and then loads parameter files for this robot.
  ArRobotConnector robotConnector(&parser, &robot);
  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "simpleMotionCommands: Could not connect to the robot.");
    if(parser.checkHelpAndWarnUnparsed())
    {
        Aria::logOptions();
        Aria::exit(1);
        return 1;
    }
  }
  if (!Aria::parseArgs())
  {
    Aria::logOptions();
    Aria::exit(1);
    return 1;
  }
  
  ArLog::log(ArLog::Normal, "simpleMotionCommands: Connected.");

  // Start the robot processing cycle running in the background.
  // True parameter means that if the connection is lost, then the 
  // run loop ends.
  robot.runAsync(true);

  // Print out some data from the SIP.  

  // We must "lock" the ArRobot object
  // before calling its methods, and "unlock" when done, to prevent conflicts
  // with the background thread started by the call to robot.runAsync() above.
  // See the section on threading in the manual for more about this.
  // Make sure you unlock before any sleep() call or any other code that will
  // take some time; if the robot remains locked during that time, then
  // ArRobot's background thread will be blocked and unable to communicate with
  // the robot, call tasks, etc.
  
  robot.lock();
  ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
    robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
  robot.unlock();

  // Sleep for 3 seconds.
  ArLog::log(ArLog::Normal, "simpleMotionCommands: Will start driving in 3 seconds...");
  ArUtil::sleep(3000);

  // Set forward velocity to 50 mm/s
  ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 250 mm/s for 5 sec...");
  robot.lock();
  robot.enableMotors();
  robot.setVel(250);
  robot.unlock();
  ArUtil::sleep(5000);

  ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
  robot.lock();
  robot.stop();
  robot.unlock();
  ArUtil::sleep(1000);

  ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at 10 deg/s for 5 sec...");
  robot.lock();
  robot.setRotVel(10);
  robot.unlock();
  ArUtil::sleep(5000);

  ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at -10 deg/s for 10 sec...");
  robot.lock();
  robot.setRotVel(-10);
  robot.unlock();
  ArUtil::sleep(10000);

  ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 150 mm/s for 5 sec...");
  robot.lock();
  robot.setRotVel(0);
  robot.setVel(150);
  robot.unlock();
  ArUtil::sleep(5000);

  ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
  robot.lock();
  robot.stop();
  robot.unlock();
  ArUtil::sleep(1000);


  // Other motion command functions include move(), setHeading(),
  // setDeltaHeading().  You can also adjust acceleration and deceleration
  // values used by the robot with setAccel(), setDecel(), setRotAccel(),
//.........这里部分代码省略.........

int __cdecl _tmain (int argc, char** argv)
{

	//------------ I N I C I O   M A I N    D E L   P R O G R A M A   D E L    R O B O T-----------//

	  //inicializaion de variables
	  Aria::init();
	  ArArgumentParser parser(&argc, argv);
	  parser.loadDefaultArguments();
	  ArSimpleConnector simpleConnector(&parser);
	  ArRobot robot;
	  ArSonarDevice sonar;
	  ArAnalogGyro gyro(&robot);
	  robot.addRangeDevice(&sonar);
	  ActionGos go(500, 350);	  
	  robot.addAction(&go, 48);
	  ActionTurns turn(400, 110);
	  robot.addAction(&turn, 49);
	  ActionTurns turn2(400, 110);
	  robot.addAction(&turn2, 49);

	  // presionar tecla escape para salir del programa
	  ArKeyHandler keyHandler;
	  Aria::setKeyHandler(&keyHandler);
	  robot.attachKeyHandler(&keyHandler);
	  printf("Presionar ESC para salir\n");

	  // uso de sonares para evitar colisiones con las paredes u 
	  // obstaculos grandes, mayores a 8cm de alto
	  ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
	  ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
	  ArActionLimiterTableSensor tableLimiterAction;
	  robot.addAction(&tableLimiterAction, 100);
	  robot.addAction(&limiterAction, 95);
	  robot.addAction(&limiterFarAction, 90);


	  // Inicializon la funcion de goto
	  ArActionGoto gotoPoseAction("goto");
	  robot.addAction(&gotoPoseAction, 50);
	  
	  // Finaliza el goto si es que no hace nada
	  ArActionStop stopAction("stop");
	  robot.addAction(&stopAction, 40);

	  // Parser del CLI
	  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
	  {    
		Aria::logOptions();
		exit(1);
	  }
	  
	  // Conexion del robot
	  if (!simpleConnector.connectRobot(&robot))
	  {
		printf("Could not connect to robot... exiting\n");
		Aria::exit(1);
	  }
	  robot.runAsync(true);

	  // enciende motores, apaga sonidos
	  robot.enableMotors();
	  robot.comInt(ArCommands::SOUNDTOG, 0);

	  // Imprimo algunos datos del robot como posicion velocidad y bateria
		robot.lock();
		ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
			robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
		robot.unlock();

	  const int duration = 100000; //msec
	  ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);

	  // ============================ INICIO CONFIG COM =================================//
	    CSerial serial;
		LONG    lLastError = ERROR_SUCCESS;

		// Trata de abrir el com seleccionado
		lLastError = serial.Open(_T("COM3"),0,0,false);
		if (lLastError != ERROR_SUCCESS)
			return ::ShowError(serial.GetLastError(), _T("Imposible abrir el COM"));

		// Inicia el puerto serial (9600,8N1)
		lLastError = serial.Setup(CSerial::EBaud9600,CSerial::EData8,CSerial::EParNone,CSerial::EStop1);
		if (lLastError != ERROR_SUCCESS)
			return ::ShowError(serial.GetLastError(), _T("Imposible setear la config del COM"));

		// Register only for the receive event
		lLastError = serial.SetMask(CSerial::EEventBreak |
									CSerial::EEventCTS   |
									CSerial::EEventDSR   |
									CSerial::EEventError |
									CSerial::EEventRing  |
									CSerial::EEventRLSD  |
									CSerial::EEventRecv);
		if (lLastError != ERROR_SUCCESS)
			return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port event mask"));

		// Use 'non-blocking' reads, because we don't know how many bytes
		// will be received. This is normally the most convenient mode
//.........这里部分代码省略.........

int _tmain(int argc, char** argv)
{
    //-------------- M A I N    D E L   P R O G R A M A   D E L    R O B O T------------//
    //----------------------------------------------------------------------------------//

    //inicializaion de variables
    Aria::init();
    ArArgumentParser parser(&argc, argv);
    parser.loadDefaultArguments();
    ArSimpleConnector simpleConnector(&parser);
    ArRobot robot;
    ArSonarDevice sonar;
    ArAnalogGyro gyro(&robot);
    robot.addRangeDevice(&sonar);
    ActionTurns turn(400, 55);
    robot.addAction(&turn, 49);
    ActionTurns turn2(400, 55);
    robot.addAction(&turn2, 49);
    turn.deactivate();
    turn2.deactivate();

    // presionar tecla escape para salir del programa
    ArKeyHandler keyHandler;
    Aria::setKeyHandler(&keyHandler);
    robot.attachKeyHandler(&keyHandler);
    printf("Presionar ESC para salir\n");

    // uso de sonares para evitar colisiones con las paredes u
    // obstaculos grandes, mayores a 8cm de alto
    ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
    ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
    ArActionLimiterTableSensor tableLimiterAction;
    robot.addAction(&tableLimiterAction, 100);
    robot.addAction(&limiterAction, 95);
    robot.addAction(&limiterFarAction, 90);


    // Inicializon la funcion de goto
    ArActionGoto gotoPoseAction("goto");
    robot.addAction(&gotoPoseAction, 50);

    // Finaliza el goto si es que no hace nada
    ArActionStop stopAction("stop");
    robot.addAction(&stopAction, 40);

    // Parser del CLI
    if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
    {
        Aria::logOptions();
        exit(1);
    }

    // Conexion del robot
    if (!simpleConnector.connectRobot(&robot))
    {
        printf("Could not connect to robot... exiting\n");
        Aria::exit(1);
    }
    robot.runAsync(true);

    // enciende motores, apaga sonidos
    robot.enableMotors();
    robot.comInt(ArCommands::SOUNDTOG, 0);

    // Imprimo algunos datos del robot como posicion velocidad y bateria
    robot.lock();
    ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
               robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
    robot.unlock();

    const int duration = 100000; //msec
    ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);

    bool first = true;
    int goalNum = 0;
    int color = 3;
    ArTime start;
    start.setToNow();
    while (Aria::getRunning())
    {
        robot.lock();

        // inicia el primer punto
        if (first || gotoPoseAction.haveAchievedGoal())
        {
            first = false;

            goalNum++; //cambia de 0 a 1 el contador
            printf("El contador esta en: --> %d <---\n",goalNum);
            if (goalNum > 20)
                goalNum = 1;

            //comienza la secuencia de puntos
            if (goalNum == 1)
            {
                gotoPoseAction.setGoal(ArPose(1150, 0));
                ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
                           gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
                // Imprimo algunos datos del robot como posicion velocidad y bateria
                robot.lock();
//.........这里部分代码省略.........