"Applicazione di un laser range scanner a un robot mobile", 2010

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"Vel R", "DigIns", "DigOuts", "Enc L", "Enc R", "IR L", "IR R", "Cur Bumps, (Last Bump Pose)" ); // Request that we will want encoder data tobor.requestEncoderPackets(); // Print data every second char timestamp[24]; while(tobor.isRunning()) { tobor.lock(); time_t t = time(NULL); strftime(timestamp, 24, "%Y-%m-%d %H:%M:%S", localtime(&t)); printf( DATAFORMAT, timestamp, tobor.getRealBatteryVoltage(), int_as_bitstring(cumulativeRobotFlags).c_str(), 48
); (wasEStopTriggered ? "YES" : " "), (wasLeftMotorStalled?"YES":" "), (wasRightMotorStalled?"YES":" "), int_as_bitstring(cumulativeStallVal).c_str(), tobor.getMotorPacCount(), tobor.getSonarPacCount(), tobor.getLeftVel(), tobor.getRightVel(), byte_as_bitstring(tobor.getDigIn()).c_str(), byte_as_bitstring(tobor.getDigOut()).c_str(), tobor.getLeftEncoder(), tobor.getRightEncoder(), wasLeftIRTriggered?"YES": " ", wasRightIRTriggered?"YES":" " if (!(tobor.getDigIn()&32)){ // prova a fare beep tobor.setVel(-200); tobor.unlock(); tobor.lock(); char tune[]={5,2,5,3,5,4,5,5,5,6,5,7,15,8}; tobor.comStrN(ArCommands::SAY,tune,14); ArUtil::sleep(2000); 49
Page 1 and 2: Studente: UNIVERSITÀ DEGLI STUDI D
Page 3 and 4: L’implementazione con le CGI ....
Page 5 and 6: Capitolo 1 Installazione del calcol
Page 7 and 8: fisicamente una porta usb. Si è po
Page 9 and 10: Le classi fondamentali di Aria Aria
Page 11 and 12: ciclo possa andarle a modificare ne
Page 13 and 14: Aria è scritto in modo tale da acc
Page 15 and 16: Figura 6: Rappresentazione schemati
Page 17 and 18: “ArGripper” (“pinza”) che v
Page 19 and 20: Il file bash per avviare il program
Page 21 and 22: Capitolo 2 Il passo successivo: ARN
Page 23 and 24: col mouse il robot all’interno de
Page 25 and 26: In Figura 9 è possibile osservare
Page 27 and 28: ;SettableAccsDecs false ; if the ac
Page 29 and 30: Figura 11: Una fotografia della sta
Page 31 and 32: La scelta del materiale isolante pe
Page 33 and 34: Nel riquadro rosso sono presenti se
Page 35 and 36: stazione di ricarica. Questo è sta
Page 37 and 38: packet.doubleToBuf(0); client.reque
Page 39 and 40: La pagina di stato A fianco della p
Page 41 and 42: Figura 19: Tobor nelle vicinanze de
Page 43 and 44: } tmp[16] = 0; tmp[ch] = ((n>>bit)&
Page 45 and 46: connector ArSimpleConnector connect
Page 47: pinza.liftDown(); //Apre la pinza t
Page 51 and 52: { if(bit == 9) // this is also a mo
Page 53 and 54: Appendice 2 Il programma “Caramel
Page 55 and 56: } /* main function */ int main(int
Page 57 and 58: { ArLog::log(ArLog::Terse, "Could n
Page 59 and 60: Print data header #define HEADFORMA
Page 61 and 62: cont = 0; } cont++;*/ tobor.comStrN
Page 63 and 64: } tobor.comStrN(ArCommands::SAY,tun
Page 65 and 66: } // robot cycle stopped, probably
Page 67 and 68: RequestIOPackets false ; automatica
Page 69 and 70: SettableAccsDecs false ; if the acc
Page 71 and 72: HasMoveCommand false ; has built in
Page 73 and 74: ;SectionFlags for Movement control
Page 75 and 76: usr/local/Arnl/examples/goalClient0
Page 77 and 78: usr/local/Arnl/examples/arnlServer2
Page 79 and 80: void handleRobotUpdate(ArNetPacket*
Page 81 and 82: } exit(1); printf("Connected to ser
Page 83 and 84: home/user/programmi_robot/rientroTo
Page 85 and 86: Appendice 8 La CGI “stop.cgi” #
Page 87 and 88: fi echo -e "" grep status /home/use
Page 89: Bibliografia/sitografia http://www

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