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  1. 打开GoHomeCharge工程,检查libs路径下是否有 slamware_sdk_android.jar 文件，以及jinLibs路径下是否有 librpsdk.so 文件，若想尝试其他版本的SDK，请直接将这两个文件替换。



  2. 到 Project Structure --> app --> Dependencies 检查Slamware SDK是否添加到工程中。


  3. 将以下代码段的"10.0.130.71"修改为底盘的IP地址，默认情况下为192.168.11.1，当WIFI处于Station模式下请将PC与底盘使用Ethenet连接后查看。方法说明：AbstractSlamwarePlatform connect(String host, int port)，其中host为底盘IP，port为网络端口号，返回值为底盘的实例对象。

    Code Block
    languagejava
    themeMidnight
    /* 与底盘连接 */
AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445);


  4. Android设备连接底盘发射出的WIFI或连入底盘的同一网络，按下shift + F10 运行

    Info

    本例程仅仅用作最简单SDK类和方法的演示，故没有设计Android界面


  5. 机器人底盘在中、高、低三种不同速度下的运动状况可通过RoboStudio观察到
    view-file
    Multimedia
    nameSpeedRegulation.mp4
    height250

...


代码描述

  • 机器人会以低中高三档速度运动在三角形三边循环运动，其速度取决于slamcore固件设定，官网固件设定为0.15m/s 0.25m/s 0.35m/s

    Code Block
    languagejava
    themeMidnight
    title自动回充
    linenumberstrue
    /* 与底盘连接 */
final AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445);

IMoveAction action;

try {
    action = robotPlatform.getCurrentAction();
} catch (ConnectionFailException e) {
	/* Exception Handle code*/
	....
}

Location location1 = new Location(0, 1, 0);
Location location2 = new Location(1, 0, 0);
Location location3 = new Location(0, 0, 0);

while (true) {
try {

	action = robotPlatform.moveTo(location1, false, true);
	if (action.getStatus() == ActionStatus.ERROR) {
		Log.d(TAG, "Acvtion Faild, " + action.getReason());
	}
	robotPlatform.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_HIGH);
	Log.d(TAG, "Robot is moving to " + "(" + location1.getX() + ", " + location1.getY() + ")");
	action.waitUntilDone();

	action = robotPlatform.moveTo(location2, false, true);
	if (action.getStatus() == ActionStatus.ERROR) {
		Log.d(TAG, "Acvtion Faild, " + action.getReason());
	}
	robotPlatform.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_LOW);
	Log.d(TAG, "Robot is moving to " + "(" + location2.getX() + ", " + location2.getY() + ")");
	action.waitUntilDone();

	action = robotPlatform.moveTo(location3, false, true);
	if (action.getStatus() == ActionStatus.ERROR) {
		Log.d(TAG, "Acvtion Faild, " + action.getReason());
	}
	robotPlatform.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_MEDIUM);
	Log.d(TAG, "Robot is moving to " + "(" + location3.getX() + ", " + location3.getY() + ")");
	action.waitUntilDone();

} catch (ConnectionTimeOutException e) {
	/* Exception Handle code*/
	....	   
}