/* movement-test.c MyroC general commands testing Written by Jordan Yuan Written on 11-1 2013 Modified by Anita DeWitt, Nick Knoebber, Jason Liu, Vasilisa Bashlovkina Modified by Henry M. Walker for MyroC.3.0 Testing for the following general MyroC commands: rTurnLeft rTurnRight TurnSpeed rForward rFastForward rBackward rMotors rStop rHardStop * * This program and all MyroC software is licensed under the Creative Commons * Attribution-Noncommercial-Share Alike 3.0 United States License. * Details may be found at http://creativecommons.org/licenses/by-nc-sa/3.0/us/ */ #include "MyroC.h" #include "eSpeakPackage.h" #include #include #include #ifdef __APPLE__ #include // needed for sleep command #else #include #endif int main(){ int motion_number = 0; //rConnect ("/dev/rfcomm0"); rConnect ("/dev/tty.Fluke2-0958-Fluke2"); rBeep (2, 880); rSetForwardness("fluke-forward"); eSpeakConnect(); eSpeakSetGender("female"); sleep(1); printf("Test 1 turn left for given duration\n"); eSpeakTalk("Test 1 turn left for given duration"); /* turns Scribbler left for a specified speed and time */ printf ("starting motion %d - blocking\n", motion_number++); rTurnLeft(0.4,1.0); rBeep (1, 880); printf ("starting motion %d - blocking\n", motion_number++); rTurnLeft(0.4,1.0); rBeep (1, 880); printf ("starting motion %d - blocking\n", motion_number++); rTurnLeft(2.0,0.1); rBeep (1, 880); printf ("starting motion %d - blocking\n", motion_number++); rTurnLeft(0.2,1.0); sleep(3); eSpeakTalk("Timed, non blocking tests"); printf ("starting motion %d - non-blocking, stop during first beep\n", motion_number++); rTurnLeft(1.0,-1); rBeep(2,910); rBeep(2,950); printf ("starting motion %d - non-blocking, stop during second beep\n", motion_number++); rTurnLeft(3.0,-1); rBeep(2,910); rBeep(2,950); printf ("starting motion %d - non-blocking, terminated by forward command\n", motion_number++); rTurnLeft(3.0,-1); rBeep(2,910); printf ("starting motion %d - blocking\n", motion_number++); rForward (1.0, 1.0); rBeep(2,950); eSpeakTalk("Untimed, non blocking tests, press enter to stop"); printf ("starting motion %d\n", motion_number++); rTurnLeft(1.0,-1); rBeep(1,880); rBeep(1,990); getchar(); rStop(); sleep(3); printf("Test 2 turn right\n"); eSpeakTalk("Test 2 turn right"); /* turns Scribbler right for a specified speed and time */ rTurnRight(0.4, 1.0); rTurnRight(0.4, 1.0); rTurnRight(2.0,0.1); rTurnRight(0.2,1.0); sleep(3); eSpeakTalk("Non blocking test, press enter to stop"); rTurnRight(1.0,-1); rBeep(1,880); rBeep(1,990); getchar(); rStop(); sleep(4); printf("Test 3 turn speed\n"); eSpeakTalk("Test 3 turn speed"); /* turns Scribbler in direction for a specified speed at a specified time -1 = left. 1 = right. */ printf("turn right for 1 speed, at 1 second\n"); rTurnSpeed("right",1,1); sleep(1); printf("turn left for 1 speed, at 1 second\n"); rTurnSpeed("left",1,1) ; sleep(1); printf("turn right for 0.2 speed, at 2 second\n"); rTurnSpeed("right",0.2,2); sleep(1); printf("turn left for 0.22 speed, at 2 second\n"); rTurnSpeed("left",0.2,2); sleep(1); printf("Test 4 rForward\n"); eSpeakTalk("Test 4 R forward"); /* moves Scribbler forward for a specified speed and time */ eSpeakTalk ("Move forward for 2 seconds "); rForward(0.5,2.0); sleep(1); eSpeakTalk ("Move forward for 3 seconds "); rForward(0.1,3.0); sleep(1); eSpeakTalk ("Move forward for 4 seconds"); rForward(0.8,4.0); sleep(1); eSpeakTalk("Non blocking test, press enter to stop"); rForward(1.0,-1); rBeep(1,880); rBeep(1,990); getchar(); rStop(); sleep(2); printf("Test 5 rFastForward\n"); eSpeakTalk("Test 5 R fast forward"); /* moves Scribbler forward at maximum speed for a specified time */ eSpeakTalk ("Move forward for 1 second "); rFastForward(1.0); sleep(1); eSpeakTalk ("Move forward for 2 seconds "); rFastForward(2.0); sleep(2); eSpeakTalk ("Move forward for 0 seconds"); rFastForward(0); sleep(1); eSpeakTalk("Non blocking test, press enter to stop"); rFastForward(-1); rBeep(1,880); rBeep(1,990); getchar(); rStop(); sleep(4); printf("Test 6 rBackward\n"); eSpeakTalk("Test 6 R backward"); /* moves Scribbler backward for a specified speed and time */ eSpeakTalk ("Move Backward for 2 seconds "); sleep(1); rBackward(0.5,2.0); eSpeakTalk ("Move Backward for 3 seconds "); sleep(1); rBackward(0.1,3.0); sleep(1); eSpeakTalk ("Move Backward for 4 seconds"); rBackward(0.8,4.0); sleep(1); eSpeakTalk("Non blocking test, press enter to stop"); rBackward(1.0,-1); rBeep(1,880); rBeep(1,990); getchar(); rStop(); sleep(3); printf("Test 7 rMotor + RStop\n"); eSpeakTalk("Test 7 R motor and hard stop"); /* directs robot motion with given speeds for the left and right motors continues until given another motion command or disconnected*/ printf("set both left and right motor to 1\n"); rMotors(1,1); sleep(2); printf("stop movement\n"); /* directs robot to stop movement */ rHardStop(); printf ("Test 8 rSetForwardness and rGetForwardness\n"); eSpeakTalk ("Test 8 rSetForwardness and rGetForwardness\n"); eSpeakTalk ("Set fluke forward and move forward 1 second\n"); rSetForwardness ("fluke-forward"); printf ("done with rSetForwardness\n"); rBeep (2, 880); rForward (1.0, 1.0); sleep(3); printf ("Scribbler set to %s\n", rGetForwardness()); eSpeakTalk ("Scribbler direction set to"); eSpeakTalk (rGetForwardness()); eSpeakTalk ("Set scribbler forward and move forward 1 second\n"); rSetForwardness ("scribbler-forward"); printf ("Scribbler direction set to %s\n", rGetForwardness()); eSpeakTalk ("Scribbler set to"); eSpeakTalk (rGetForwardness()); rForward (1.0, 1.0); sleep(1); eSpeakTalk ("Reset fluke forward and move forward 1 second\n"); rSetForwardness ("fluke-forward"); printf ("done with rSetForwardness\n"); rForward (1.0, 1.0); sleep(1); rBeep (2, 880); sleep(2); rDisconnect(); eSpeakDisconnect(); //done return 0; }