本页介绍了 SpeedRegulation的用法, 如何调用setSystemParameter接口调节机器人底盘速度。
本页内容
Sample Code:
使用不同版本的Android Studio可能会带来编译异常,请自行下载相关库和修改build.gradle配置文件,本例程基于Slamware Android SDK 2.6.0 进行开发,若想尝试更高的SDK版本,请直接替换工程中的 slamware_sdk_android.jar 和 librpsdk.so 文件。 |
(以下任选其一)
到 Project Structure --> app --> Dependencies 检查Slamware SDK是否添加到工程中。
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。
/* 与底盘连接 */ AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445); |
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
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 |
调节底盘运动速度
/* 与底盘连接 */ final AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445); IMoveAction action; try { action = robotPlatform.getCurrentAction(); } catch (ConnectionFailException e) { } 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); 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); action.waitUntilDone(); } catch (ConnectionTimeOutException e) { /* Exception Handle code*/ .... } |