From 11913e8a3427aedc904bf4f00f0a5369e5d2a10b Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Wed, 9 Nov 2022 14:54:57 +0100
Subject: [PATCH] bug fixes again
---
src/getcoordinates.jl | 21 +++++++++++++++++++++
test/testclient.jl | 11 ++++++-----
2 files changed, 27 insertions(+), 5 deletions(-)
diff --git a/src/getcoordinates.jl b/src/getcoordinates.jl
index 153c4f4..3c6e86c 100644
--- a/src/getcoordinates.jl
+++ b/src/getcoordinates.jl
@@ -61,6 +61,27 @@ function getz(bot::TCPSocket)
end
end
+"""
+ gettheta(bot::TCPSocket)
+
+Returns the ``θ``-coordinate of the omnibot as `Float64`.
+"""
+function gettheta(bot::TCPSocket)
+ msg = "rtheta"
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ try
+ return parse(Float64,ret)
+ catch e
+ if isa(e, ArgumentError)
+ throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+ end
+ end
+end
+
"""
getmaxspeed(bot::TCPSocket)
diff --git a/test/testclient.jl b/test/testclient.jl
index bdca29d..d56fcd7 100644
--- a/test/testclient.jl
+++ b/test/testclient.jl
@@ -1,14 +1,15 @@
using Omnibot
+using Sockets
-ip = "192.168.0.101"
+ip = getipaddr()
bot = connectomnibot(ip)
for i = 1:100
setspeed(bot,[100,100,100])
- println("x:"*getx(bot))
- println("y:"*gety(bot))
- println("z:"*getz(bot))
- println("theta:"*gettheta(bot))
+ println("x:"*string(getx(bot)))
+ println("y:"*string(gety(bot)))
+ println("z:"*string(getz(bot)))
+ println("theta:"*string(gettheta(bot)))
sleep(0.1)
end
--
GitLab