[Playerstage-users] Proper Segway Client

[Brandon S. <si...@sp...>]

I have been trying for days to get our Segway RMP to accept position
commands.  Can anyone give me an example of the proper way to write a
C++ Client to send commands to the segwayrmp driver?

This is what I have:

PlayerClient robot("localhost");
   
   int check = 0;
   double turnrate = 20.0;

   if(robot.SetFrequency(1000))
     printf("Frequency not set.\n");

   if(robot.SetDataMode(PLAYER_DATAMODE_PUSH_ASYNC))
     printf("Data Mode Not Set.\n");
  
   /* Request access to the position interface. */
   PositionProxy segway(&robot, 0, 'a');
   
   /* Not sure if this has any effect, but it won't move. */
   check = segway.SetStatus(PLAYER_POSITION_MOTOR_POWER_REQ, 1);
   if( check < 0)
      printf("Error Setting Motor State using SetStatus.\n");

   check = segway.SetMotorState(1);
   if( check < 0)
      printf("Error Setting Motor State.\n");

   check = segway.SetSpeed(0, DTOR(turn_speed));    
   if( check < 0)
      printf("Error setting segway speed!!!\n");



Thank you,
Brandon