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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,99 +1,101 @@ | ||
| % MATLAB example | ||
|
|
||
| %> @ingroup asibot_examples_m | ||
| %> \defgroup testRemoteRaveBotM testRemoteRaveBot.m | ||
| %> | ||
| %> @brief This example connects to a running \ref testRaveBot or \ref cartesianServer module to move in Joint space. | ||
| %> | ||
| %> <b>Legal</b> | ||
| %> | ||
| %> Copyright: (C) 2012 Universidad Carlos III de Madrid | ||
| %> | ||
| %> Author: Juan G Victores | ||
| %> | ||
| %> CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT | ||
| %> | ||
| %> <b>Running</b> (assuming correct installation) | ||
| %> | ||
| %> From within MATLAB, navigate to the ASIBOT MATLAB examples path and run the program: | ||
| %> | ||
| %>\verbatim [MATLAB console] testRemoteRaveBot.m \endverbatim | ||
| %> <b>Modify</b> | ||
| %> | ||
| %> This file can be edited at repos/asibot-main/example/matlab/testRemoteRaveBot.m | ||
| %> | ||
|
|
||
| disp 'WARNING: requires a running instance of RaveBot (i.e. testRaveBot or cartesianServer)' | ||
|
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||
| LoadYarp(); % imports YARP and connects to YARP network | ||
|
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| options = yarp.Property(); % create an instance of Property, a nice YARP class for storing name-value (key-value) pairs | ||
| options.put('device','remote_controlboard'); % we add a name-value pair that indicates the YARP device | ||
| options.put('remote','/ravebot'); % we add info on to whom we will connect | ||
| options.put('local','/matlab'); % we add info on how we will call ourselves on the YARP network | ||
|
|
||
| dd = yarp.PolyDriver(options); % create a YARP multi-use driver with the given options | ||
| if isequal(dd.isValid(),1) | ||
| disp '[success] robot available'; | ||
| else | ||
| disp '[warning] robot NOT available, does it exist?'; | ||
| end | ||
|
|
||
| pos = dd.viewIPositionControl(); % make a position controller object we call 'pos' | ||
| if isequal(pos,[]) | ||
| disp '[warning] position interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] position interface available'; | ||
| end | ||
|
|
||
| vel = dd.viewIVelocityControl(); % make a velocity controller object we call 'vel' | ||
| if isequal(vel,[]) | ||
| disp '[warning] velocity interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] velocity interface available'; | ||
| end | ||
|
|
||
| enc = dd.viewIEncoders(); % make an encoder controller object we call 'enc' | ||
| if isequal(enc,[]) | ||
| disp '[warning] encoder interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] encoder interface available'; | ||
| end | ||
|
|
||
| mode = dd.viewIControlMode(); % make a mode controller object we call 'mode' | ||
| if isequal(mode,[]) | ||
| disp '[warning] control mode interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] control mode interface available'; | ||
| end | ||
|
|
||
| axes = enc.getAxes(); | ||
| for i = 1:axes | ||
| mode.setPositionMode(i-1); % use the object to set the device to position mode (as opposed to velocity mode) (note: stops the robot) | ||
| end | ||
|
|
||
| disp 'test positionMove(1,35) -> moves motor 1 (start count at motor 0) to 35 degrees'; | ||
| pos.positionMove(1,35); | ||
|
|
||
| disp 'test delay(5)'; | ||
| yarp.Time.delay(5); | ||
|
|
||
| v = yarp.DVector(axes); % create a YARP vector of doubles the size of the number of elements read by enc, call it 'v' | ||
| enc.getEncoders(v); % read the encoder values and put them into 'v' | ||
| disp (strcat('v[1] is: ',num2str(v.get(1)))); % print element 1 of 'v', note that motors and encoders start at 0 | ||
|
|
||
| for i = 1:axes | ||
| mode.setVelocityMode(i-1); % use the object to set the device to velocity mode (as opposed to position mode) | ||
| end | ||
|
|
||
| disp 'test velocityMove(0,10) -> moves motor 0 (start count at motor 0) at 10 degrees per second'; | ||
| vel.velocityMove(0,10); | ||
|
|
||
| disp 'test delay(5)'; | ||
| yarp.Time.delay(5); | ||
|
|
||
| vel.velocityMove(0,0); | ||
| dd.close(); | ||
| disp 'bye!'; | ||
| yarp.Network.fini(); % disconnect from the YARP network | ||
|
|
||
| % MATLAB example | ||
|
|
||
| %> @ingroup asibot_examples_m | ||
| %> \defgroup testRemoteRaveBotM testRemoteRaveBot.m | ||
| %> | ||
| %> @brief This example connects to a running \ref testRaveBot or \ref cartesianServer module to move in Joint space. | ||
| %> | ||
| %> <b>Requires YARP 2.3.72.</b> | ||
| %> | ||
| %> <b>Legal</b> | ||
| %> | ||
| %> Copyright: (C) 2012 Universidad Carlos III de Madrid | ||
| %> | ||
| %> Author: Juan G Victores | ||
| %> | ||
| %> CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT | ||
| %> | ||
| %> <b>Running</b> (assuming correct installation) | ||
| %> | ||
| %> From within MATLAB, navigate to the ASIBOT MATLAB examples path and run the program: | ||
| %> | ||
| %>\verbatim [MATLAB console] testRemoteRaveBot.m \endverbatim | ||
| %> <b>Modify</b> | ||
| %> | ||
| %> This file can be edited at repos/asibot-main/example/matlab/testRemoteRaveBot.m | ||
| %> | ||
|
|
||
| disp 'WARNING: requires a running instance of RaveBot (i.e. testRaveBot or cartesianServer)' | ||
|
|
||
| LoadYarp(); % imports YARP and connects to YARP network | ||
|
|
||
| options = yarp.Property(); % create an instance of Property, a nice YARP class for storing name-value (key-value) pairs | ||
| options.put('device','remote_controlboard'); % we add a name-value pair that indicates the YARP device | ||
| options.put('remote','/ravebot'); % we add info on to whom we will connect | ||
| options.put('local','/matlab'); % we add info on how we will call ourselves on the YARP network | ||
|
|
||
| dd = yarp.PolyDriver(options); % create a YARP multi-use driver with the given options | ||
| if isequal(dd.isValid(),1) | ||
| disp '[success] robot available'; | ||
| else | ||
| disp '[warning] robot NOT available, does it exist?'; | ||
| end | ||
|
|
||
| pos = dd.viewIPositionControl(); % make a position controller object we call 'pos' | ||
| if isequal(pos,[]) | ||
| disp '[warning] position interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] position interface available'; | ||
| end | ||
|
|
||
| vel = dd.viewIVelocityControl(); % make a velocity controller object we call 'vel' | ||
| if isequal(vel,[]) | ||
| disp '[warning] velocity interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] velocity interface available'; | ||
| end | ||
|
|
||
| enc = dd.viewIEncoders(); % make an encoder controller object we call 'enc' | ||
| if isequal(enc,[]) | ||
| disp '[warning] encoder interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] encoder interface available'; | ||
| end | ||
|
|
||
| mode = dd.viewIControlMode(); % make a mode controller object we call 'mode' | ||
| if isequal(mode,[]) | ||
| disp '[warning] control mode interface NOT available, does it exist?'; | ||
| else | ||
| disp '[success] control mode interface available'; | ||
| end | ||
|
|
||
| axes = enc.getAxes(); | ||
| for i = 1:axes | ||
| mode.setControlMode(i-1, yarp.Vocab_encode('pos')); % use the object to set the device to position mode (as opposed to velocity mode) (note: stops the robot) | ||
| end | ||
|
|
||
| disp 'test positionMove(1,35) -> moves motor 1 (start count at motor 0) to 35 degrees'; | ||
| pos.positionMove(1,35); | ||
|
|
||
| disp 'test delay(5)'; | ||
| yarp.Time.delay(5); | ||
|
|
||
| v = yarp.DVector(axes); % create a YARP vector of doubles the size of the number of elements read by enc, call it 'v' | ||
| enc.getEncoders(v); % read the encoder values and put them into 'v' | ||
| disp (strcat('v[1] is: ',num2str(v.get(1)))); % print element 1 of 'v', note that motors and encoders start at 0 | ||
|
|
||
| for i = 1:axes | ||
| mode.setControlMode(i-1, yarp.Vocab_encode('vel')); % use the object to set the device to velocity mode (as opposed to position mode) | ||
| end | ||
|
|
||
| disp 'test velocityMove(0,10) -> moves motor 0 (start count at motor 0) at 10 degrees per second'; | ||
| vel.velocityMove(0,10); | ||
|
|
||
| disp 'test delay(5)'; | ||
| yarp.Time.delay(5); | ||
|
|
||
| vel.velocityMove(0,0); | ||
| dd.close(); | ||
| disp 'bye!'; | ||
| yarp.Network.fini(); % disconnect from the YARP network | ||
|
|
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