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z1_controller
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add multirobot control

This commit is contained in:
Agnel Wang 2023-03-08 21:03:50 +08:00
parent 9ba5662d3a
commit 368e52c282
4 changed files with 2 additions and 2 deletions
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2
include/control/armSDK.h
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@ -7,7 +7,7 @@
class ARMSDK : public CmdPanel{ class ARMSDK : public CmdPanel{
public: public:
ARMSDK(std::vector<KeyAction*> events, ARMSDK(std::vector<KeyAction*> events,
EmptyAction emptyAction, const char* IP, uint port, double dt = 0.002); EmptyAction emptyAction, const char* IP, uint toport, uint ownport, double dt = 0.002);
~ARMSDK(); ~ARMSDK();
SendCmd getSendCmd(); SendCmd getSendCmd();
int getState(size_t channelID = 0); int getState(size_t channelID = 0);

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lib/libZ1_ROS_Linux64.so
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lib/libZ1_UDP_Linux64.so
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2
main.cpp
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@ -48,7 +48,7 @@ int main(int argc, char **argv){
ctrlComp->stateCSV = new CSVTool("../config/savedArmStates.csv"); ctrlComp->stateCSV = new CSVTool("../config/savedArmStates.csv");
ctrlComp->geneObj(); ctrlComp->geneObj();
if(ctrlComp->ctrl == Control::SDK){ if(ctrlComp->ctrl == Control::SDK){
ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 0.002); ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 8071, 0.002);
}else if(ctrlComp->ctrl == Control::KEYBOARD){ }else if(ctrlComp->ctrl == Control::KEYBOARD){
events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART)); events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART));
events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE)); events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE));