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

运行环境准备

• 软件平台

  • Visual Studio 2010  SP1
  • Slamware Windows SDK:Slamware Windows SDK
  • RoboStudio(用于显示地图):Robostudio installer

  • 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

• 硬件平台

          （以下任选其一）

• • • Slamware SDP mini 
    • Slamware 套装 （基于Slamware导航方案的用户机器人系统）
    • Apollo/Ares/Athena等底盘系统

例程下载

Win32-例程下载

编译运行

1. 打开samples工程，右键Speed regulation, 将此工程设置成StartUp project
   
   
   

2. 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。

   
   
   

3. 右键speed_regulation, 在Debugging页面中command Arguments处输入 192.168.11.1 
   格式说明：speed_regulation <IP address>
   
   
   
4. 点击F5运行
5. 可以连上Robostudio查看地图及机器人的运动

代码描述

• 机器人会以低中高三档以及一个自定义的速度，在正方形四条边循环运动，高中低三档速度的具体值取决于固件。

  调节速度

   		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(-1,2);
                  rpos::core::Location location4(1,2);
  		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" << 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" << std::endl;
  			action.waitUntilDone();
  		
  		
  			action = sdp.moveTo(location3, 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" << std::endl;
  			action.waitUntilDone();
  
  
  			action = sdp.moveTo(location4, false,true);
  			if (action.getStatus() == rpos::core::ActionStatusError) 
  				std::cout << "Action Failed: " << action.getReason() << std::endl; 
  			bool bRet1 =sdp.setSystemParameter(SYSPARAM_ROBOT_SPEED, "0.3m/s"); 
  			std::cout <<"Robot is moving to: (" << location4.x() <<" , "<<location4.y()<<") on speed"<< " 0.3m/s" << std::endl; action.waitUntilDone();
  		 }