Sunday 28 May 2006 15:26、Raman Agarwal さんは書きました: > hi, > > yeah i realized that mails arent formatted.. i have included line numbers > to the program snippet for reference. > --------------------------------------------------------------------------- >-------------------------------------- 10> // enable motors > 15> position->data->cmd_enable_motors = 1; > > 20> // change direction of the bot > 25> position->data->cmd_vel_rot[2] = -1.6; // for ~90° clockwise > 30> position->data->cmd_vel_pos[2] = 0.12; // switch on motor for z-axis > 35> sleep(1); // wait for 1ms > 40> position->data->cmd_vel_rot[2] = 0; // fix this angle/pose > 45> position->data->cmd_vel_pos[2] = 0; // switch off motor for z-axis > > 50> // move forward in new direction > 55> position->data->cmd_vel_pos[0] = 1.52; // switch on motor for x-axis > > --------------------------------------------------------------------------- >-------------------------------------- > > Q1 : is there a neater approach to turn the robot. ideally speaking, the > commands (30 to 45) shouldnt be used, but commenting them out ddnt move > anything :( > lines 30 and 45 are not used for sure, if you comment them out it should be working. If not, attach your entire program to the next email
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