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that_one_nigga_you_k
Aug 27th, 2023
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  1. #define PI 3.14
  2. #include <stdio.h>
  3. #include <stdlib.h>
  4. #include <string.h>
  5.  
  6. extern "C" {
  7. #include "extApi.h"
  8. }
  9.  
  10. int main(int argc, char* argv[])
  11. {
  12.  
  13.     //variavei para handler das juntas
  14.     int handler = 0;
  15.  
  16.     //conecta com o coppelia
  17.     int clientID = simxStart((simxChar*) "127.0.0.1", 19999, true, true, 2000, 5);
  18.  
  19.     extApi_sleepMs(500);
  20.  
  21.     //verifica conexao com simulador
  22.     if (clientID == -1) {
  23.         printf("Erro conectando ao Coppelia!\n");
  24.         return 0;
  25.     } else {
  26.         printf("Conectado ao Coppelia!\n");
  27.     }
  28.    
  29.    
  30.  
  31.     simxChar junta1[150] = "/NiryoOne/Joint";
  32.     simxChar junta2[150] = "/NiryoOne/Joint/Link/Joint";
  33.     simxChar junta3[150] = "/NiryoOne/Joint/Link/Joint/Link/Joint";
  34.     simxChar junta4[150] = "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint";
  35.     simxChar junta5[150] = "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint";
  36.     simxChar junta6[150] = "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint";
  37.  
  38.     simxChar pontos[6][150] = {
  39.        "/NiryoOne/Joint",
  40.        "/NiryoOne/Joint/Link/Joint",
  41.        "/NiryoOne/Joint/Link/Joint/Link/Joint",
  42.        "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint",
  43.        "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint",
  44.        "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint"
  45.     };
  46.  
  47.     int jointHandle;
  48.    /* simxGetObjectHandle(clientID, pontos[2], &jointHandle, (simxInt)simx_opmode_oneshot_wait);
  49.     simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)(-PI)/3, (simxInt)simx_opmode_oneshot_wait);
  50.     extApi_sleepMs(3000);*/
  51.     simxGetObjectHandle(clientID, pontos[1], &jointHandle, (simxInt)simx_opmode_oneshot_wait);
  52.     simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)(-PI) / 3.5, (simxInt)simx_opmode_oneshot_wait);
  53.     extApi_sleepMs(3000);
  54.     simxGetObjectHandle(clientID, pontos[0], &jointHandle, (simxInt)simx_opmode_oneshot_wait);
  55.     simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)(-PI)/15 , (simxInt)simx_opmode_oneshot_wait);
  56.     extApi_sleepMs(3000);
  57.    
  58.    /*
  59.     for (int i = 0; i < 6; i++) {
  60.        
  61.         simxGetObjectHandle(clientID, pontos[i], &jointHandle, (simxInt)simx_opmode_oneshot_wait);
  62.         printf("testando a junta %d do seu jeito\n", i);
  63.  
  64.         simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
  65.         extApi_sleepMs(3000);
  66.         simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)2 * PI, (simxInt)simx_opmode_oneshot_wait);
  67.         extApi_sleepMs(3000);
  68.         simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
  69.         extApi_sleepMs(3000);
  70.         simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)2 * -PI, (simxInt)simx_opmode_oneshot_wait);
  71.         extApi_sleepMs(3000);
  72.         simxSetJointTargetPosition(clientID, jointHandle, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
  73.     }
  74.  
  75.     */
  76.    
  77.     // Fecha a conexao
  78.     simxFinish(clientID);
  79.  
  80.     return(0);
  81. }
  82.  
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