C++ IEncoders::getEncoderSpeeds方法代码示例

本文整理汇总了C++中IEncoders::getEncoderSpeeds方法的典型用法代码示例。如果您正苦于以下问题：C++ IEncoders::getEncoderSpeeds方法的具体用法？C++ IEncoders::getEncoderSpeeds怎么用？C++ IEncoders::getEncoderSpeeds使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类IEncoders的用法示例。

在下文中一共展示了IEncoders::getEncoderSpeeds方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: entry_update


//.........这里部分代码省略.........
  int k;
  int NUMBER_OF_JOINTS=0;
  bool done = false;
  bool ret = false;
  ipos->getAxes(&NUMBER_OF_JOINTS);

  if (NUMBER_OF_JOINTS == 0)
  {
      fprintf(stderr,"Lost connection with iCubInterface. You should save and restart.\n" );
      Time::delay(0.1);
      pColor=&color_grey;
      strcpy(frame_title,"DISCONNECTED");
      for (k = 0; k < MAX_NUMBER_OF_JOINTS; k++)
      {   
          if (currentPart->framesArray[k]!=0)
          {
              gtk_frame_set_label   (GTK_FRAME(currentPart->framesArray[k]),frame_title);
              gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
          }
      }
      return true;
  }

  for (k = 0; k < NUMBER_OF_JOINTS; k++) 
  {
      max_torques[k]=0;
      min_torques[k]=0;
      torques[k]=0;
  }

  if (!iiencs->getEncoders(positions)) 
      return true;
  itrq->getTorques(torques);
  iiencs->getEncoderSpeeds(speeds);
  
  //update all joints positions
  for (k = 0; k < NUMBER_OF_JOINTS; k++)
    {
      sprintf(buffer, "%.1f", positions[k]);  
      gtk_entry_set_text((GtkEntry*) pos_entry[k],  buffer);
      sprintf(buffer, "%.3f", torques[k]);  
      gtk_entry_set_text((GtkEntry*) trq_entry[k],  buffer);
      sprintf(buffer, "%.1f", speeds[k]);  
      gtk_entry_set_text((GtkEntry*) speed_entry[k],  buffer);
    }
  //update all joint sliders
  for (k = 0; k < NUMBER_OF_JOINTS; k++) 
    if(POS_UPDATE[k])
      gtk_range_set_value((GtkRange*)sliderAry[k],  positions[k]);

  // *** update the checkMotionDone box section ***
  // (only one at a time in order to save badwidth)
  k = slowSwitcher%NUMBER_OF_JOINTS;
  slowSwitcher++;
#if DEBUG_GUI
  gtk_entry_set_text((GtkEntry*) inEntry[k],  "off");
#else
  ipos->checkMotionDone(k, &done);
  if (!done)
      gtk_entry_set_text((GtkEntry*) inEntry[k],  " "); 
  else
      gtk_entry_set_text((GtkEntry*) inEntry[k],  "@");
#endif

  // *** update the controlMode section ***
  // the new icubinterface does not increase the bandwidth consumption

开发者ID:Karma-Revolutions，项目名称:icub-main，代码行数:67，代码来源:singleJointWindow.cpp

示例2: entry_update


//.........这里部分代码省略.........
  int k;
  int NUMBER_OF_JOINTS=0;
  bool done = false;
  bool ret = false;
  ipos->getAxes(&NUMBER_OF_JOINTS);

  if (NUMBER_OF_JOINTS == 0)
  {
      fprintf(stderr,"Lost connection with iCubInterface. You should save and restart.\n" );
      Time::delay(0.1);
      pColor=&color_grey;
      strcpy(frame_title,"DISCONNECTED");
      for (k = 0; k < MAX_NUMBER_OF_JOINTS; k++)
      {   
          if (currentPart->framesArray[k]!=0)
          {
              gtk_frame_set_label   (GTK_FRAME(currentPart->framesArray[k]),frame_title);
              gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
          }
      }
      return true;
  }

  for (k = 0; k < NUMBER_OF_JOINTS; k++) 
  {
	  max_torques[k]=0;
	  min_torques[k]=0;
	  torques[k]=0;
  }

  if (!iiencs->getEncoders(positions)) 
	  return true;
  itrq->getTorques(torques);
  iiencs->getEncoderSpeeds(speeds);
  
  //update all joints positions
  for (k = 0; k < NUMBER_OF_JOINTS; k++)
    {
      sprintf(buffer, "%.1f", positions[k]);  
      gtk_entry_set_text((GtkEntry*) pos_entry[k],  buffer);
      sprintf(buffer, "%.3f", torques[k]);  
	  gtk_entry_set_text((GtkEntry*) trq_entry[k],  buffer);
      sprintf(buffer, "%.1f", speeds[k]);  
	  gtk_entry_set_text((GtkEntry*) speed_entry[k],  buffer);
    }
  //update all joint sliders
  for (k = 0; k < NUMBER_OF_JOINTS; k++) 
    if(POS_UPDATE[k])
      gtk_range_set_value((GtkRange*)sliderAry[k],  positions[k]);

  // *** update the checkMotionDone box section ***
  // (only one at a time in order to save badwidth)
  k = slowSwitcher%NUMBER_OF_JOINTS;
  slowSwitcher++;
#if DEBUG_GUI
  gtk_entry_set_text((GtkEntry*) inEntry[k],  "off");
#else
  ipos->checkMotionDone(k, &done);
  if (!done)
      gtk_entry_set_text((GtkEntry*) inEntry[k],  " "); 
  else
      gtk_entry_set_text((GtkEntry*) inEntry[k],  "@");
#endif

  // *** update the controlMode section ***
  // the new icubinterface does not increase the bandwidth consumption

开发者ID:elen4，项目名称:icub-main，代码行数:67，代码来源:singleJointWindow.cpp

注：本文中的IEncoders::getEncoderSpeeds方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。