38 lines
976 B
C++
38 lines
976 B
C++
//#include "UR3_Lib.h"
|
|
#include "UR_Control.h"
|
|
|
|
int main()
|
|
{
|
|
unsigned int usecs = 1000000; //1sec = 1.000.000 usec
|
|
//UR3* test = new UR3();
|
|
Binzone* zone = new Binzone();
|
|
Control* robot = new Control(0.0001,3.0, zone);
|
|
cout << "Starting in 2 seconds" << endl;
|
|
usleep(2000000);
|
|
|
|
/*
|
|
std::thread safety(&Control::safetyTest, robot_);
|
|
cout << "Safety Thread Started" << endl;
|
|
std::thread binpicking(&Control::Demo, robot_);
|
|
cout << "Started Bin Picking Thread" << endl;
|
|
safety.join();
|
|
binpicking.join();*/
|
|
|
|
robot->Demo();
|
|
cout << "Done, shutting down" << endl;
|
|
return 0;
|
|
}
|
|
|
|
//Control* robot2_ = new Control(0.0001,3.0, zone);
|
|
/*while(true){
|
|
cout << "Starting in 2 seconds" << endl;
|
|
usleep(2000000);
|
|
|
|
//robot_->Demo(3.0); //ADD SLEEP!
|
|
robot_->Demo();
|
|
//robot_->robot_->IO_test();
|
|
}*/
|
|
|
|
//c++ UR3_Lib.cpp robot_state.cpp robot_state_RT.cpp ur_realtime_communication.cpp ur_communication.cpp UR_Control.cpp Main.cpp -o test -pthread -std=c++11
|
|
|