one_scan.c

/*
  URG センサによる１回測定
  Satofumi KAMIMURA
  $Id$
*/

#include "urg_ctrl.h"
#include <stdio.h>
#include <stdlib.h>


int main(int argc, char *argv[]) {
  long length[URG_DATA_SIZE];
  int n;
  int i;

  if (initURGCtrl(argc, argv) < 0) {
    printf("initURGCtrl: %s\n", urg_getError());
    exit(1);
  }

  n = urg_capture(length, 0, URG_DATA_SIZE -1, 1);
  printf("urg_capture: %d\n", n);
  if (n <= 0) {
    exit(1);
  }

  for (i = 0; i < URG_DATA_SIZE; ++i) {
    printf("%d: %ld, ", i, length[i]);
  }

  return 0;
}