fs.cpp

/*
  FS 座標系を用いた矩形走行

  相対移動の累積なので、厳密な矩形を走行する保証はない
  
  Satofumi KAMIMURA
  $Id$
*/

#if !MONITOR
#include <runCtrl.h>
#else
#include <mRunCtrl.h>
#endif
#include <pathUtils.h>
#include <stdio.h>
#include <stdlib.h>

using namespace VXV;


int main(int argc, char *argv[]) {
  try {
#if !MONITOR
    RunCtrl run;
#else
    mRunCtrl run;
    vmonitor::show();
#endif
    if (run.connect(argc, argv) < 0) {
      printf("RunCtrl::connect: %s\n", run.what());
      exit(1);
    }

    for (int i = 0; i < 4; ++i) {
      run.stopToLine(Position(1000, 0, deg(0)), &run.FS);
      VXV::waitStable(run, 100);

      run.rotateToDirection(deg(90), &run.FS);
      VXV::waitStable(run, 100);
    }
    run.stop();
    VXV::Delay(1000);

  } catch (std::exception& e) {
    printf("exception: %s\n", e.what());
  }
  return 0;
}