先鋒三機(jī)器人三角形實(shí)驗(yàn)性笑程序

1、1、 三角形 流程圖如下：Step+,step=?2開始Step=0移動(dòng)1000轉(zhuǎn)120°NY結(jié)束源程序如下：#include "Aria.h"/ the robotArRobot *robot;int counter=0;int step=0;void update(void) / Your Code Hereif (counter<3) if(step=0) robot->move(1000);step+; if(step=1) if (robot->isMoveDone()robot->setDeltaHeading(120);ste

2、p+; if(step=2) if(robot->isHeadingDone() step=0; counter+; int main(int argc, char *argv) int ret; std:string str; / the connection for Remote Host and Simulator /ArTcpConnection con; / the connection through Serial Link to the robot ArSerialConnection con; ArGlobalFunctor updateCB(&update);

3、robot = new ArRobot; / mandatory init Aria:init(); / open the connection, if this fails exit if (ret = con.open() != 0) str = con.getOpenMessage(ret); printf("Open failed: %sn", str.c_str(); Aria:shutdown(); return 1; / set the device connection on the robot robot->setDeviceConnection(&

4、amp;con); / try to connect, if we fail exit if (!robot->blockingConnect() printf("Could not connect to robot. exitingn"); Aria:shutdown(); return 1; / user task robot->addUserTask("update", 50, &updateCB); / turn on the motors, turn off amigobot sounds robot->comInt(ArCommands:SONAR, 1); robot->comInt(ArCommands:ENABLE, 1); robot->comInt(ArCommands:SOUNDTOG, 0); / start the robot running, true so that if we lose connection the run stops robot->run(true); robot->lock(); robot-