From a150bcdb8c63cefd58352bd36910800cb1ae1948 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Wed, 9 Nov 2022 11:04:19 +0100
Subject: [PATCH] bug fixes and cleaning
---
README.md | 11 +++++++++++
src/Omnibot.jl | 2 ++
src/setspeeds.jl | 45 ++++++++++++++++++++-------------------------
3 files changed, 33 insertions(+), 25 deletions(-)
diff --git a/README.md b/README.md
index f1f1866..57b9cc5 100644
--- a/README.md
+++ b/README.md
@@ -28,6 +28,17 @@ for i = 1:100
sleep(0.1)
end
+close(bot)
+```
+### Example: Read the maximum set-point for servo speed
+```
+using Omnibot
+
+ip = ...
+bot = connectomnibot(ip)
+
+println(getmaxspeed(bot))
+
close(bot)
```
diff --git a/src/Omnibot.jl b/src/Omnibot.jl
index 7c45a50..08493ec 100644
--- a/src/Omnibot.jl
+++ b/src/Omnibot.jl
@@ -5,6 +5,8 @@ export getx
export gety
export getz
export gettheta
+export getmaxspeed
+export setspeed
using Sockets
include("connectomnibot.jl")
diff --git a/src/setspeeds.jl b/src/setspeeds.jl
index 0ca1053..6ebb1c0 100644
--- a/src/setspeeds.jl
+++ b/src/setspeeds.jl
@@ -1,39 +1,34 @@
"""
setspeed(bot::TCPSocket,i::Int,v::Int)
-sets the speed of servo `i` to `v`.
-
-# Arguments
-- `bot::TCPSocket`: the socket-connection to the robot.
-- `i::Int`: index of the servo, takes values 1-3.
-- `v::Int`: integer servo speed set-point.
+sets the speed of servo `i::Int` to `v::Int`, where `i` takes values 1,2,3.
"""
function setspeed(bot::TCPSocket,i::Int,v::Int)
-msg = 'w'*string(i)*string(v)
-print(bot,msg)
-ret = readline(bot)
-if msg[1] == 'e'
- error(ret)
-end
+ msg = 'w'*string(i)*string(v)
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
-return ret
+ return ret
end
"""
- setspeeds(bot::TCPSocket,v::Vector{Int})
+ setspeed(bot::TCPSocket,v::Vector{Int})
-Set the speed-setpoint of servos to the values in vector v.
+Also callable with a vector `v`. Then the set-points are set such that servo 1 gets set-point `v[1]` etc.
"""
function setspeed(bot::TCPSocket,v::Int)
-fullret = ""
-for (i,s) in enumerate(v)
- msg = 'w'*string(i)*string(s)
- print(bot,msg)
- ret = readline(bot)
- if msg[1] == 'e'
- error(ret)
+ fullret = ""
+ for (i,s) in enumerate(v)
+ msg = 'w'*string(i)*string(s)
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ fullret = fullret*ret*"\n"
end
- fullret = fullret*ret*"\n"
-end
-return fullret
+ return fullret
end
\ No newline at end of file
--
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