本页介绍了Speed regulation的用法, 如何调用setsystemparameter()接口调节机器人速度。 |
本页内容
Sample Code:
使用更高版本的Visual Studio可能会带来编译异常。 使用Visual Studio 2010(无SP1)可能会因为无法与.Net Framework兼容而报编译错误,此时增加SP1更新包即可解决问题 |
(以下任选其一)
右键speed_regulation, 打开属性选项,将Slamware SDK 的include目录和lib目录添加到工程
Slamware SDK的include和lib目录无需复制到参考例程目录,只需在Visual Studio里指定路径即可。 |
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
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; rpos::actions::MoveAction action = sdp.getCurrentAction(); rpos::core::Location location1(1,0); rpos::core::Location location2(-1,0); rpos::core::Location location3(0,1.414); while (true) { if (action) action.cancel(); action = sdp.moveTo(location1, false,true); if (action.getStatus() == rpos::core::ActionStatusError) std::cout << "Action Failed: " << action.getReason() << std::endl; bool bRet2 =sdp.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_HIGH); std::cout <<"Robot is moving to: (" << location1.x() <<" , "<<location1.y()<<") on speed"<< " HIGH( 0.35m/s )" << std::endl; action.waitUntilDone(); action = sdp.moveTo(location2, false,true); if (action.getStatus() == rpos::core::ActionStatusError) std::cout << "Action Failed: " << action.getReason() << std::endl; bool bRet3 =sdp.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_LOW); std::cout <<"Robot is moving to: (" << location2.x() <<" , "<<location2.y()<<") on speed"<< " LOW( 0.15m/s )" << std::endl; action.waitUntilDone(); action = sdp.moveTo(location2, false,true); if (action.getStatus() == rpos::core::ActionStatusError) std::cout << "Action Failed: " << action.getReason() << std::endl; bool bRet1 =sdp.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_MEDIUM); std::cout <<"Robot is moving to: (" << location3.x() <<" , "<<location3.y()<<") on speed"<< " MEDIUM( 0.25m/s )" << std::endl; action.waitUntilDone(); } |