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65 lines
2.0 KiB
65 lines
2.0 KiB
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% Copyright (C) 1993-2015, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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classdef VREP_mobile < handle
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properties
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vrep
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left
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right % VREP joint object handles
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end
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methods
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function mob = VREP_mobile(vrep, name)
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mob.vrep = vrep;
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% find all the _joint objects, we don't know how many joints so we
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% keep going till we get an error
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mob.left = vrep.gethandle('%s_leftJoint', name);
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mob.right = vrep.gethandle('%s_rightJoint', name);
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% set all joints to passive mode
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% for j=1:arm.njoints
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% arm.vrep.simxSetJointMode(arm.client, arm.joint(j), arm.vrep.sim_jointmode_passive, arm.vrep.simx_opmode_oneshot_wait);
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% end
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end
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function q = getq(mob)
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q = [
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mob.vrep.getjoint(mob.left)
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mob.vrep.getjoint(mob.right)
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];
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end
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function setq(mob, q)
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mob.vrep.setjoint(mob.left, q(1));
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mob.vrep.setjoint(mob.right, q(2));
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end
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function setqd(mob, qd)
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mob.vrep.setjointvel(mob.left, qd(1));
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mob.vrep.setjointvel(mob.right, qd(2));
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end
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end
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end
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