Working on examples

git-svn-id: http://web.barrett.com/svn/btclient/trunk@379 3eb8b4e9-0710-d544-b5f2-d3973d62577e

doc/readme.txt

@@ -1,3 +1,10 @@
 This directory is for documentation.
 
-(This file is really so tar won't optimize out this directory)
+To generate the source code documentation, use doxygen:
+http://www.stack.nl/~dimitri/doxygen/
+
+If you want doxygen to generate nifty code-relationship visual 
+graphs (optional), install graphviz:
+http://www.graphviz.org/
+
+Point doxygen to the ../src/config.dox and let it run!

examples/README

@@ -0,0 +1,9 @@
+This is the 'examples' directory.
+
+Start by reviewing Example 1 (ex1). It documents the basic structure of a WAM
+program. Later examples build on ex1's structure, but their comments serve to
+highlight the particular features being presented instead of repeating the 
+description of the program structure.
+
+Happy coding!
+

examples/ex1-jointposition/main.c

@@ -153,7 +153,7 @@ int main(int argc, char **argv)
    printf("\nPress Ctrl-C to exit...\n");
    while(1) {
       /* Display the WAM's joint angles on-screen (see **NOTE below) */
-      printf("\rPosition = %s\t",sprint_vn(buf,(vect_n*)wam->Jpos));
+      printf("\rPosition (rad) = %s\t",sprint_vn(buf,(vect_n*)wam->Jpos));
       fflush(stdout);
       usleep(100000); // Wait a moment
    }

examples/ex2-gcomp/main.c

@@ -163,7 +163,7 @@ int main(int argc, char **argv)
 
    /* Spin off the RT task to set up the CAN Bus */
    startDone = FALSE;
-   btrt_thread_create(&rt_thd,"rtt", 45, (void*)rt_thread, NULL);
+   btrt_thread_create(&rt_thd, "rtt", 45, (void*)rt_thread, NULL);
    while(!startDone)
       usleep(10000);
 
@@ -189,9 +189,9 @@ int main(int argc, char **argv)
       line = 2;
 
       mvprintw(line, 0, "Robot name = %s     Degrees of Freedom = %d", wam->name, wam->dof); line += 2;
-      mvprintw(line, 0, "Joint Position: %s", sprint_vn(buf, wam->Jpos)); ++line;
-      mvprintw(line, 0, "Joint Torque  : %s", sprint_vn(buf, wam->Jtrq)); ++line;
-      mvprintw(line, 0, "Cartesian XYZ : %s", sprint_vn(buf, (vect_n*)wam->Cpos)); ++line;
+      mvprintw(line, 0, "Joint Position (rad): %s", sprint_vn(buf, wam->Jpos)); ++line;
+      mvprintw(line, 0, "Joint Torque (Nm)   : %s", sprint_vn(buf, wam->Jtrq)); ++line;
+      mvprintw(line, 0, "Cartesian XYZ (m)   : %s", sprint_vn(buf, (vect_n*)wam->Cpos)); ++line;
       mvprintw(line, 0, "Jacobian Matrix\n%s", sprint_mn(buf, wam->robot.J)); line += 7;
       mvprintw(line, 0, "Mass Matrix\n%s", sprint_mn(buf, wam->robot.M)); line += wam->dof + 1;
 

examples/ex3-datalogging/main.c

@@ -34,6 +34,10 @@
  *==============================*/
 #include "btwam.h"
 
+/*==============================*
+ * PRIVATE DEFINED constants    *
+ *==============================*/
+/* Define the control loop period */
 #define Ts (0.002)
 
 /*==============================*
@@ -231,8 +235,11 @@ int main(int argc, char **argv)
    while(!startDone)
       usleep(10000);
 
+   /* Register the control loop's local callback routine */
+   registerWAMcallback(wam, WAMcallback);
+
    /* Initialize a WAM state evaluator */
-   init_state_btg(&pstate, Ts , 30.0);
+   init_state_btg(&pstate, Ts, 30.0);
 
    /* Commanded Cartesian forces and torques are applied about Cpoint, which is 
     * defined as an offset from the kinematic endpoint of the robot.
@@ -279,9 +286,6 @@ int main(int argc, char **argv)
    while(getch()==ERR)
       usleep(5000);
 
-   /* Register the control loop's local callback routine */
-   registerWAMcallback(wam, WAMcallback);
-
    /* Clear the screen (ncurses) */
    clear(); refresh();
 
@@ -298,11 +302,11 @@ int main(int argc, char **argv)
       line = 2;
 
       mvprintw(line, 0, "Robot name = %s     Degrees of Freedom = %d", wam->name, wam->dof); line += 2;
-      mvprintw(line, 0, "Joint Position (m) : %s", sprint_vn(buf, wam->Jpos)); ++line;
-      mvprintw(line, 0, "Joint Torque (Nm)  : %s", sprint_vn(buf, wam->Jtrq)); ++line;
-      mvprintw(line, 0, "Cartesian XYZ (m)  : %s", sprint_vn(buf, (vect_n*)wam->Cpos)); ++line;
-      mvprintw(line, 0, "Cartesian Force (N): %s", sprint_vn(buf, (vect_n*)wam->Cforce)); ++line;
-      mvprintw(line, 0, "Callback Time (ns) : %ld", callbackTime); ++line;
+      mvprintw(line, 0, "Joint Position (rad): %s", sprint_vn(buf, wam->Jpos)); ++line;
+      mvprintw(line, 0, "Joint Torque (Nm)   : %s", sprint_vn(buf, wam->Jtrq)); ++line;
+      mvprintw(line, 0, "Cartesian XYZ (m)   : %s", sprint_vn(buf, (vect_n*)wam->Cpos)); ++line;
+      mvprintw(line, 0, "Cartesian Force (N) : %s", sprint_vn(buf, (vect_n*)wam->Cforce)); ++line;
+      mvprintw(line, 0, "Callback Time (ns)  : %ld", callbackTime); ++line;
 
       ++line;
       mvprintw(line, 0, "To exit, press Shift-Idle on pendant, then hit Ctrl-C");

examples/ex4-haptics/Makefile

@@ -1,22 +1,28 @@
-OBJS = main.o
-TARG = ex4
-CC = gcc 
-PATH_INCLUDE = -I/usr/realtime/include -I../../include
-
-CFLAGS =  -g -DUSE_RTAI31 -static ${PATH_INCLUDE}
-#CFLAGS =  -g -DUSE_RTAI31 -static ${PATH_INCLUDE} -DBTOLDCONFIG
+### Makefile for Barrett Software (examples)
 
-LDFLAGS = -L/usr/realtime/lib -L/usr/lib -L../../lib -lpthread -llxrt \
-          -lncurses -lm -lbtwam -lbtsystem -lntcan
+# Be sure to edit config.mk to match your installation
+include ../../config.mk
+include ../../common.mk
 
+OBJS = main.o
+TARG = ex4
 
+# Done with defines, now for the real work
 default: ex4
 
 ex4: ${OBJS}
 	$(CC) -o ${TARG} ${OBJS} ${LDFLAGS}
-
-clean: 
+  
+clean:
 	rm *.o ${TARG} 
 
+system:
+	$(MAKE) -C ../../src/btsystem lib
+	$(MAKE) -C ../../src/btsystem install
 
+wam:
+	$(MAKE) -C ../../src/btwam lib
+	$(MAKE) -C ../../src/btwam install
+
+all: system wam ex4